高速摄像技术在微型旋翼机性能测量中的应用

谢少荣; 周 焱; 邢兰兴; 罗 均

doi:null

您当前的位置：

首页 >

文章列表页 >

高速摄像技术在微型旋翼机性能测量中的应用

更新时间：2020-08-12

- 高速摄像技术在微型旋翼机性能测量中的应用
- Application of high-speed camera to characteristic measurement of MAV
- 光学精密工程 2007年15卷第3期页码：378-383
- 作者机构：
  
  上海大学机械工程及自动化学院上海,200072
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： V465.3;TB872
- 收稿日期：2006-09-12，
  
  修回日期：2006-12-18，
  
  网络出版日期：2007-06-30，
  
  纸质出版日期：2007-06-30
- 稿件说明：
移动端阅览
谢少荣, 周焱, 邢兰兴, 等. 高速摄像技术在微型旋翼机性能测量中的应用[J]. 光学精密工程, 2007,15(3):378-383.

XIE Shao-rong, ZHOU Yan, XING Lan-xing, et al. Application of high-speed camera to characteristic measurement of MAV[J]. Optics and precision engineering, 2007, 15(3): 378-383.
谢少荣, 周焱, 邢兰兴, 等. 高速摄像技术在微型旋翼机性能测量中的应用[J]. 光学精密工程, 2007,15(3):378-383. DOI：

XIE Shao-rong, ZHOU Yan, XING Lan-xing, et al. Application of high-speed camera to characteristic measurement of MAV[J]. Optics and precision engineering, 2007, 15(3): 378-383. DOI：

摘要

提出了一种测量微型旋翼机桨距角及弹性连杆变形角度的新方法—高速摄像法。这种方法可以准确地测得高速旋转物体的角度

拍摄速度可达15 000帧/s。实验需要处理两个角度——桨距角和弹性连杆变形角度。实验中

首先对拍摄部位进行预处理

然后对微型飞行器在高速旋转时的不同状态进行拍摄

包括从正面拍摄桨距角和从侧面拍摄弹性连杆的变形角度

对拍摄到的图片进行筛选、存储并进行图像处理。图像处理部分是用MATLAB软件进行边缘检测

对比了四种不同的检测方法的效果

最后采用Canny算法。用最小二乘法拟和成直线

得到所需的角度;利用采集电路将角度与电压实时地对应起来

得到了电机电压和桨距角及弹性连杆变形角度的八组关系曲线

并对得到角度的精度进行了分析。实验证明这种方法在微型飞行器高速旋转时信号弱、干扰强、其动态特性难以精确测量情况下

可有效测量微型飞行器的变距角度。

Abstract

In order to measure the dynamic characteristics of high rotating MAV with weak signal and big interference

a new measurement way based on the high speed camera was presented. Being different from the traditional way measured only in theory

this kind of new way can measure angle of high rotating object accurately in camera speed of 15 000 frame/s. In this experiment

two angles

the blade angle and connecting rod angle

is need to measured in four steps

the angles are disposed for the convenience of next step

then the MAV are taken pictures in two different angles

front and side.For gaining the required angles

the pictures are saved and analyzed using MATLAB software by four different kinds of detecting ways

including checking the edge of the image and fitting curve. Finally

the relationship between the motor voltage

pitch angle and the distorting angle of the connecting rod in the eight groups of curves are achieved by corresponcling to the angles and voltage. The precision of the angles is analyzed

which is proved that this way is effective.

关键词

Keywords

references

. 李智,王向军. 微机电系统测试技术及方法[J]. 光学精密工程,2003,11(1):37-42. LI ZH, WANG X J. MEMS measurement technologies and methods[J].Opt. Precision Eng.,2003, 11(1):37-42. (in Chinese)

. 蒋明,杨福俊,董萼良,等. 基于高速摄像的双线性振动陀螺力学特性分析[J]. 光学精密工程,2006,14(1):121-126. JIANG M, YANG F J, DONG E L,et al.. Analysis of mechanical characteristics in the double linear vibratory gyroscope using high speed photography[J]. Opt. Precision Eng., 2006,14(1):121-126. (in Chinese)

. HUBERT S ,TAKU K. Tracking the translational and rotational movement of the ball using high-speed camera movies . Kowloon, Hong Kong SAR. HongKong: 2005:1084-1087.

. SEKIKAWA J, KITAJIMA T. Observation of arc-emitted light between slowly opening electrical contacts using a high-speed camera .Humamatsu, Japan, 2004:47-52.

. SHIGEO M T. Dynamic micro aspects of facial movements in elicited and posed expressions using high-speed camera . IEEE International Workshop on Robot and Human Interactive Communication, Japan, 2001:371-376..

. 王德忠,黄震,童澄教,等. CCD摄像机在瞬变喷雾可视化中的应用[J]. 激光技术.1999,23(5):292-295. WANG D ZH, HUANG ZH, TONG CH J, et al.. Visualization of transient spray by means of CCD video camera[J]. Laser Technol.,1998,23(5):292-295. (in Chinese)

. 王军波,孙振国,陈强,等. 高速CCD摄像机驱动时序发生器的设计及基于CPLD技术的实现[J]. 光学技术,2002, 28(2):132-134. WANG J B, SUN ZH G, CHEN Q, et al.. Design on driving schedule generator for high-speed CCD camera driving and its achievement based on CPLD technology[J]. Opt. Tech., 2002, 28(2):132-134. (in Chinese)

. 孙振东,李向荣. 浅谈实车碰撞试验中的高速摄像 . 汽车技术. 2002,1:46-48. SUN ZH D, LI X R. The application of high-speed camera in collision of cars . Auto Technol., 2002,1:46-48.(in Chinese)

. 郭海云,李桓,陈育浩,等. 高速摄像技术在弹道碎石器探头运动参数测量中的应用[J]. 中国医疗器械杂志. 2004,28(6): 403-405. GUO H Y, LI H, CHEN Y H, et al.. The application of high-speed camera technique in movement parameter measurement of the pneumatic lithotrities[J]. Chin. J. Med. Instrum., 2004,28(6):403-405. (in Chinese)

. 王向军, 韩双来. 弹落点坐标测量系统的快速校准方法及精度分析[J]. 光学精密工程, 2005,13(6):686-690. WANG X J, HAN SH L. A high speed camera calibration method in coordinate measurement of bomb-fall and its precision analysis[J]. Opt. Precision Eng., 2005,13(6):686-690. (in Chinese)

浏览量

814

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于线阵CCD的成像系统自校图形设计

五角棱镜扫描系统中调整误差及制造角差的影响分析-

SU-8胶紫外光刻的尺寸精度研究