A dynamic parameter calibration method and system of a high-speed camera measurement system

Abstract

The application provides a dynamic parameter calibration method and system of a high-speed camera measurement system, and the method comprises the following steps: under a preset shooting frame rate, using the high-speed camera measurement system to shoot the upper surface of a rotating dynamic parameter calibration code disc to obtain a plurality of shooting images; based on the plurality of shooting images, according to the parameters of the dynamic parameter calibration code disc in the rotating process measured by shooting, the indication value of the high-speed camera measurement system is obtained; the difference between the indication value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disc is calculated to obtain the indication error of the high-speed camera measurement system; and the dynamic parameters of the high-speed camera measurement system are calibrated according to the indication error of the high-speed camera measurement system, so that the accuracy and reliability of the dynamic parameters of the high-speed camera measurement system are ensured, and the measurement accuracy of the high-speed camera measurement system is improved.

Description

Technical Field

[0001] This invention relates to the field of calibration technology for high-speed camera measurement systems, and more particularly to a dynamic parameter calibration method and system for high-speed camera measurement systems. Background Technology

[0002] High-speed photogrammetry systems acquire massive amounts of image data of high-speed moving targets in a non-contact manner. Based on close-range photogrammetry theory, they analyze the three-dimensional spatial coordinate changes of the target points in each image to measure parameters such as displacement, velocity, and acceleration of the high-speed moving object. High-speed photogrammetry systems offer advantages such as non-contact, three-dimensional measurement, and dense measurement capabilities, playing an irreplaceable role in digital image correlation (DIC) and particle image velocimetry (PIV). They are widely used in automotive testing, military aerospace, industrial production, biomedicine, sports, product testing and development, and scientific research. As an important motion state testing and analysis device, the accuracy of the dynamic parameter values ​​of a high-speed photogrammetry system directly affects the test results. Therefore, before using a high-speed photogrammetry system to measure high-speed moving objects, the dynamic parameter values ​​must be calibrated to ensure accuracy.

[0003] Existing technologies typically use reference rulers or ball bars to calibrate the static parameters of high-speed camera measurement systems, which is insufficient to meet the requirements for calibrating the dynamic parameters of high-speed camera measurement systems, thus affecting the measurement accuracy of high-speed camera measurement systems. Summary of the Invention

[0004] This invention provides a dynamic parameter calibration method and system for a high-speed camera measurement system. By calibrating the dynamic parameters of the high-speed camera measurement system using a dynamic parameter calibration encoder, the accuracy and reliability of the dynamic parameters of the high-speed camera measurement system are ensured, thereby improving the measurement accuracy of the high-speed camera measurement system.

[0005] To address the aforementioned technical problems, this invention provides a dynamic parameter calibration method for a high-speed camera measurement system, comprising:

[0006] At a preset shooting frame rate, a high-speed camera measurement system is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, and a number of captured images are obtained; wherein, the upper surface of the dynamic parameter calibration code disk is provided with a standard length line scale, a standard angle line scale, a standard circle and image tracking marks.

[0007] Based on the aforementioned images, the parameters of the encoder are calibrated according to the dynamic parameters measured during the rotation process to obtain the readings of the high-speed camera measurement system. Specifically, the distance reading of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle reading is obtained by measuring a standard angle line ruler, the diameter reading is obtained by measuring the diameter of a standard circle, and the angular acceleration, angular velocity, acceleration, and linear velocity readings of the high-speed camera measurement system are obtained based on the motion of the image tracking markers.

[0008] The difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder is calculated to obtain the indication error of the high-speed camera measurement system; wherein, the indication error includes distance indication error, angle indication error, diameter indication error, angular acceleration indication error, angular velocity indication error, acceleration indication error and linear velocity indication error;

[0009] The dynamic parameters of the high-speed camera measurement system are calibrated based on the indication error of the high-speed camera measurement system.

[0010] This invention is based on the imaging of a dynamic parameter calibration code disk in a high-speed camera measurement system. It calculates the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk, and calibrates the dynamic parameters of the high-speed camera measurement system based on the difference. This ensures the accuracy and reliability of the dynamic parameters of the high-speed camera measurement system, thereby improving the measurement accuracy of the high-speed camera measurement system.

[0011] Furthermore, the dynamic parameter calibration encoder includes a standard length line scale, a standard angle line scale, a standard circle, an image tracking mark, and a threaded interface;

[0012] The standard length line scale, standard angle line scale, standard circle, and image tracking mark are located on the upper surface of the dynamic parameter calibration code disk; wherein, the standard length line scale is located directly above the standard angle line scale, and the origin of the standard angle line scale and the origin of the standard circle coincide with the center point of the dynamic parameter calibration code disk.

[0013] The image tracking markers include solid circle markers, hollow circle markers, and four-quadrant circle markers; wherein the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker are equidistant from the center point of the dynamic parameter calibration code disk;

[0014] The threaded interface is located on the lower surface of the dynamic parameter calibration code disk, and the center point of the threaded interface coincides with the center point of the dynamic parameter calibration code disk.

[0015] The present invention provides a dynamic parameter calibration encoder that can provide different standard motion speeds, standard motion accelerations, standard distances, standard angles, and standard circles according to different shooting frame rates of the high-speed camera measurement system to be calibrated, thereby realizing the calibration of dynamic parameter values ​​such as speed, acceleration, distance, angle, and circle diameter of the high-speed camera measurement system.

[0016] Furthermore, at a preset shooting frame rate, a high-speed camera measurement system is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, obtaining several captured images, including:

[0017] A standard rotation speed device is used to connect the dynamic parameter calibration code disk so that the dynamic parameter calibration code disk rotates according to a preset start-up acceleration and rotation speed;

[0018] At a preset shooting frame rate, the dynamic parameter calibration code disk is clearly and completely imaged on the high-speed camera measurement system. The high-speed camera measurement system is then used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, resulting in several captured images.

[0019] Furthermore, the step of calibrating the encoder parameters based on the captured images and the dynamic parameters measured during the rotation process to obtain the readings of the high-speed camera measurement system includes:

[0020] The distance, angle, diameter, angular acceleration, angular velocity, acceleration and linear velocity of the high-speed camera measurement system are used as single variables, and different variable values ​​are set to measure the values ​​of the captured images multiple times.

[0021] The parameters of the encoder are calibrated based on the dynamic parameters of the rotation process measured by the camera, and the readings of the high-speed camera measurement system are obtained. Among them, the distance reading of the high-speed camera measurement system is obtained by measuring the standard length line ruler, the angle reading of the high-speed camera measurement system is obtained by measuring the standard angle line ruler, the diameter reading of the high-speed camera measurement system is obtained by measuring the diameter of the standard circle, and the angular acceleration, angular velocity, acceleration and linear velocity readings of the high-speed camera measurement system are obtained based on the motion of the image tracking marker.

[0022] Furthermore, the step of calculating the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder to obtain the indication error of the high-speed camera measurement system includes:

[0023] The preset standard values ​​are used as the standard values ​​for the dynamic parameter calibration code disk; wherein, the standard values ​​for the dynamic parameter calibration code disk include the standard values ​​for distance, angle, diameter, angular acceleration, angular velocity, acceleration, and linear velocity of the dynamic parameter calibration code disk;

[0024] The difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder is calculated to obtain the indication error of the high-speed camera measurement system.

[0025] Furthermore, the step of calculating the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder to obtain the indication error of the high-speed camera measurement system includes:

[0026] At the preset shooting frame rate, the distance indication error of the high-speed camera measurement system is calculated using the following formula:

[0027]

[0028] In the formula, ΔL i This represents the distance indication error of the i-th distance calibration point at the preset shooting frame rate; L represents the average value of multiple measurements at the i-th distance calibration point. iS This represents the preset standard value for the i-th distance calibration point;

[0029] At the preset shooting frame rate, the angle indication error of the high-speed camera measurement system is calculated using the following formula:

[0030]

[0031] In the formula, Δθ i This represents the angle indication error at the i-th angle calibration point under the preset shooting frame rate; θ represents the average value of multiple measurements at the i-th angle calibration point. iS This represents the preset standard value of the i-th angle calibration point;

[0032] At the preset shooting frame rate, the diameter indication error of the high-speed camera measurement system is calculated using the following formula:

[0033]

[0034] In the formula, ΔR i This represents the diameter indication error of the i-th diameter calibration point at the preset shooting frame rate. R represents the average value of multiple measurements at the i-th diameter calibration point. iS This represents the preset standard value of the i-th diameter calibration point;

[0035] At the preset shooting frame rate, the angular acceleration indication error of the high-speed camera measurement system is calculated using the following formula:

[0036]

[0037] In the formula, Δα iThis represents the angular acceleration indication error at the i-th angular acceleration calibration point under the preset shooting frame rate. α represents the average value of multiple measurements at the i-th angular acceleration calibration point. iS This represents the preset standard value of the i-th angular acceleration calibration point;

[0038] At the preset shooting frame rate, the angular velocity indication error of the high-speed camera measurement system is calculated using the following formula:

[0039]

[0040] In the formula, Δω i This represents the angular velocity indication error at the i-th angular velocity calibration point under the preset shooting frame rate; ω represents the average value of multiple measurements at the i-th angular velocity calibration point. iS This represents the preset standard value for the i-th angular velocity calibration point;

[0041] At the preset shooting frame rate, the linear acceleration indication error of the high-speed camera measurement system is calculated using the following formula:

[0042]

[0043] In the formula, Δa i This represents the linear acceleration indication error at the i-th linear acceleration calibration point under the preset shooting frame rate. a represents the average value of multiple measurements at the i-th linear acceleration calibration point. iS This represents the preset standard value for the i-th linear acceleration calibration point;

[0044] At the preset shooting frame rate, the linear velocity indication error of the high-speed camera measurement system is calculated using the following formula:

[0045]

[0046] In the formula, Δv i This represents the linear velocity indication error at the i-th linear velocity calibration point under the preset shooting frame rate; v represents the average value of multiple measurements at the i-th linear velocity calibration point. iS This represents the preset standard value for the i-th linear velocity calibration point.

[0047] This invention calculates the difference between the indicated values ​​of a high-speed camera measurement system and the standard values ​​of a dynamic parameter calibration encoder, and uses this difference as the indication error of the high-speed camera measurement system. This error is then used to calibrate the distance, angle, diameter, angular acceleration, angular velocity, acceleration, and linear velocity indications of the high-speed camera measurement system, thereby ensuring the accuracy of the dynamic parameters of the high-speed camera measurement system.

[0048] Based on the above method embodiments, the present invention provides a corresponding system embodiment, which provides a dynamic parameter calibration system for a high-speed camera measurement system, including: a high-speed camera module, an indication measurement module, an indication error module, and a parameter calibration module;

[0049] The high-speed camera module is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk using a high-speed camera measurement system at a preset shooting frame rate, and acquire several captured images; wherein, the upper surface of the dynamic parameter calibration code disk is provided with a standard length line scale, a standard angle line scale, a standard circle and image tracking marks.

[0050] The indication measurement module is used to calibrate the parameters of the encoder based on the captured images and the dynamic parameters measured during the rotation process, thereby obtaining the indication values ​​of the high-speed camera measurement system. Specifically, the distance indication value of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle indication value is obtained by measuring a standard angle line ruler, the diameter indication value is obtained by measuring the diameter of a standard circle, and the angular acceleration, angular velocity, acceleration, and linear velocity indication values ​​of the high-speed camera measurement system are obtained based on the motion of the image tracking marker.

[0051] The indication error module is used to calculate the difference between the indication value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk to obtain the indication error of the high-speed camera measurement system; wherein, the indication error includes distance indication error, angle indication error, diameter indication error, angular acceleration indication error, angular velocity indication error, acceleration indication error and linear velocity indication error;

[0052] The parameter calibration module is used to calibrate the dynamic parameters of the high-speed camera measurement system based on the indication error of the high-speed camera measurement system.

[0053] Furthermore, the dynamic parameter calibration encoder includes a standard length line scale, a standard angle line scale, a standard circle, an image tracking mark, and a threaded interface;

[0054] The standard length line scale, standard angle line scale, standard circle, and image tracking mark are located on the upper surface of the dynamic parameter calibration code disk; wherein, the standard length line scale is located directly above the standard angle line scale, and the origin of the standard angle line scale and the origin of the standard circle coincide with the center point of the dynamic parameter calibration code disk.

[0055] The image tracking markers include solid circle markers, hollow circle markers, and four-quadrant circle markers; wherein the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker are equidistant from the center point of the dynamic parameter calibration code disk;

[0056] The threaded interface is located on the lower surface of the dynamic parameter calibration code disk, and the center point of the threaded interface coincides with the center point of the dynamic parameter calibration code disk.

[0057] Furthermore, the indicated value measurement module includes: a measurement setting unit and an indicated value calculation unit;

[0058] The measurement setting unit is used to perform multiple measurement values ​​on the several captured images, sequentially using the distance, angle, diameter, angular acceleration, angular velocity, acceleration and linear velocity of the high-speed camera measurement system as single variables and setting different variable values.

[0059] The indicated value calculation unit is used to calibrate the parameters of the encoder disk based on the dynamic parameters measured during the rotation process to obtain the indicated values ​​of the high-speed camera measurement system. Specifically, the distance indicated value of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle indicated value of the high-speed camera measurement system is obtained by measuring a standard angle line ruler, the diameter indicated value of the high-speed camera measurement system is obtained by measuring the diameter of a standard circle, and the angular acceleration indicated value, angular velocity indicated value, acceleration indicated value, and linear velocity indicated value of the high-speed camera measurement system are obtained based on the motion of the image tracking mark.

[0060] Furthermore, the indication error module includes: a standard value unit and an error calculation unit;

[0061] The standard value unit is used to use a preset standard value as the standard value of the dynamic parameter calibration code disk; wherein, the standard value of the dynamic parameter calibration code disk includes the distance standard value, angle standard value, diameter standard value, angular acceleration standard value, angular velocity standard value, acceleration standard value and linear velocity standard value of the dynamic parameter calibration code disk;

[0062] The error calculation unit is used to calculate the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk, so as to obtain the indication error of the high-speed camera measurement system. Attached Figure Description

[0063] Figure 1 : A flowchart of an embodiment of the dynamic parameter calibration method for a high-speed camera measurement system provided by the present invention;

[0064] Figure 2 : A schematic diagram of the structure of an embodiment of the upper surface of the dynamic parameter calibration code disk provided by the present invention;

[0065] Figure 3 : A schematic diagram of the structure of an embodiment of the lower surface of the dynamic parameter calibration code disk provided by the present invention;

[0066] Figure 4: A schematic diagram of an embodiment of the dynamic parameter calibration system of the high-speed camera measurement system provided by the present invention;

[0067] Figure 5 : A schematic diagram of the structure of an embodiment of the high-speed camera module provided by the present invention;

[0068] Figure 6 : A schematic diagram of the structure of an embodiment of the indication measurement module provided by the present invention;

[0069] Figure 7 : A schematic diagram of the structure of an embodiment of the indication error module provided by the present invention;

[0070] Figure 8 : A schematic diagram of an embodiment of the error calculation unit provided by the present invention. Detailed Implementation

[0071] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0072] In the description of this invention, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the method or system referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0073] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," and "third" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "several" means two or more.

[0074] This invention provides a dynamic parameter calibration method and system for a high-speed camera measurement system. By calibrating the dynamic parameters of the high-speed camera measurement system using a dynamic parameter calibration encoder, the accuracy and reliability of the dynamic parameters of the high-speed camera measurement system are ensured, thereby improving the measurement accuracy of the high-speed camera measurement system.

[0075] Example 1

[0076] Based on the above requirements, one embodiment of the present invention provides a dynamic parameter calibration method for a high-speed camera measurement system, the method flow is as follows: Figure 1 As shown, the method includes steps S1 to S4, and the specific details of each step are as follows:

[0077] S1. At a preset shooting frame rate, a high-speed camera measurement system is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, and a number of captured images are obtained; wherein, the upper surface of the dynamic parameter calibration code disk is provided with a standard length line ruler, a standard angle line ruler, a standard circle and image tracking marks.

[0078] The dynamic parameter calibration encoder includes a standard length line scale, a standard angle line scale, a standard circle, image tracking marks, and a threaded interface.

[0079] The standard length line scale, standard angle line scale, standard circle, and image tracking mark are located on the upper surface of the dynamic parameter calibration code disk; wherein, the standard length line scale is located directly above the standard angle line scale, and the origin of the standard angle line scale and the origin of the standard circle coincide with the center point of the dynamic parameter calibration code disk.

[0080] The image tracking markers include solid circle markers, hollow circle markers, and four-quadrant circle markers; wherein the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker are equidistant from the center point of the dynamic parameter calibration code disk.

[0081] The threaded interface is located on the lower surface of the dynamic parameter calibration code disk, and the center point of the threaded interface coincides with the center point of the dynamic parameter calibration code disk.

[0082] This embodiment also provides a specific example of a dynamic parameter calibration encoder:

[0083] The upper surface structure of a specific example of the dynamic parameter calibration code disk 105 is as follows: Figure 2 As shown, it includes a standard length line ruler 201, a standard angle line ruler 202, a standard circle 203, and an image tracking mark 204.

[0084] In this embodiment, the standard length scale 201 is used to calibrate the distance indication error of the high-speed measurement system. The standard length scale 201 has a measurement range of 0 to 80 mm and a graduation value of 0.1 mm. The standard length scale 201 is located directly above the 90° graduation line of the standard angle scale 202 and is perpendicularly bisected by the 90° graduation line of the standard angle scale 202.

[0085] In this embodiment, the standard angle scale 202 is used to calibrate the angle indication error of the high-speed measurement system. The standard angle scale 202 has a measurement range of 0 to 180°, a graduation value of 5°, and its origin coincides with the center point of the dynamic parameter calibration encoder 105.

[0086] In this embodiment, the standard circle 203 is used to calibrate the circle diameter indication error of the high-speed measurement system. The diameter of the standard circle 203 ranges from 5mm to 7mm, with a graduation of 5mm, and the origin of the standard circle 203 coincides with the center point of the dynamic parameter calibration encoder 105.

[0087] In this embodiment, the image tracking marker 204 includes a solid circle marker, a hollow circle marker, and a four-quadrant circle marker. The solid circle marker is located at the 0° mark of the standard angle line scale, the hollow circle marker is located at the 180° mark of the standard angle line scale, and the four-quadrant circle marker is located at the 270° mark of the standard angle line scale. The distance between the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker and the center point of the dynamic parameter calibration code disk is d = 50 mm.

[0088] The image tracking marker 204 is used to calibrate the angular acceleration indication error, angular velocity indication error, acceleration indication error, and linear velocity indication error of the high-speed camera measurement system. When the dynamic parameter calibration encoder enters the rotation state, it is based on its starting acceleration α (rad / s). 2 ) and rotational speed ω (rad / s) 2 The standard acceleration *a* and standard linear velocity *v* can be obtained using the formulas *a = d·α* and *v = d·ω*. Furthermore, the tracking accuracy of the high-speed camera measurement system for different types of tracking marks can be obtained by comparing the horizontal lines between them.

[0089] The lower surface structure of a specific example of a dynamic parameter calibration code disk is as follows: Figure 3 As shown, it includes a threaded interface 205.

[0090] In this embodiment, the threaded interface 205 is used to fix the standard speed device, and the center point of the threaded interface 205 coincides with the center point of the dynamic parameter calibration encoder 105.

[0091] Step S1 includes steps S1.1 to S1.2, and the specific details of each step are as follows:

[0092] S1.1 Connect the dynamic parameter calibration code disk using a standard rotation speed device so that the dynamic parameter calibration code disk rotates according to the preset start-up acceleration and rotation speed.

[0093] The standard speed device is connected to the dynamic parameter calibration encoder via a threaded interface. Within the measurement range, the starting acceleration α and speed ω of the standard speed device are set according to the actual situation, so that the dynamic parameter calibration encoder rotates according to the set starting acceleration α and speed ω.

[0094] S1.2. At the preset shooting frame rate, ensure that the dynamic parameter calibration code disk is clearly and completely imaged on the high-speed camera measurement system, and use the high-speed camera measurement system to capture images of the upper surface of the rotating dynamic parameter calibration code disk, thereby acquiring several captured images.

[0095] First, within the measurement range, set the shooting frame rate of the high-speed camera measurement system according to the actual situation.

[0096] Secondly, at the set shooting frame rate, the high-speed camera measurement system is aligned with the dynamic parameter calibration code disk. By adjusting the shooting parameters of the high-speed camera measurement system and the lighting conditions of the shooting environment, the image of the dynamic parameter calibration code disk on the high-speed camera measurement system is made clear and complete.

[0097] Then, the calibration device of the high-speed camera measurement system is placed on the dynamic parameter calibration code disk to calibrate the intrinsic and extrinsic parameters of the high-speed camera measurement system, so as to avoid the intrinsic and extrinsic parameters affecting the values ​​of the dynamic parameters of the high-speed camera measurement system, thereby improving the dynamic parameter calibration accuracy of this embodiment.

[0098] Finally, after the internal and external parameters are calibrated, the calibration device is removed. At the set shooting frame rate, a high-speed camera measurement system is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, obtaining several images.

[0099] S2. Based on the captured images, calibrate the encoder parameters according to the dynamic parameters measured during the rotation process to obtain the readings of the high-speed camera measurement system. Specifically, the distance reading of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle reading is obtained by measuring a standard angle line ruler, the diameter reading is obtained by measuring the diameter of a standard circle, and the angular acceleration, angular velocity, acceleration, and linear velocity readings of the high-speed camera measurement system are obtained based on the motion of the image tracking marker. This step includes steps S2.1 to S2.2, each step being detailed below:

[0100] S2.1. Using the distance, angle, diameter, angular acceleration, angular velocity, acceleration and linear velocity of the high-speed camera measurement system as single variables, and setting different variable values, perform multiple reading measurements on the several captured images.

[0101] At a set shooting frame rate, a high-speed camera measurement system is used to measure the values ​​of different distances, angles, diameters, angular accelerations, angular velocities, accelerations, and linear velocities at the same rotational speed. At a set shooting frame rate, a high-speed camera measurement system is used to measure the values ​​of the same distances, angles, diameters, angular accelerations, angular velocities, accelerations, and linear velocities at different rotational speeds.

[0102] S2.2. Based on the dynamic parameters measured during the rotation process, the parameters of the encoder are calibrated to obtain the values ​​of the high-speed camera measurement system. Among them, the distance value of the high-speed camera measurement system is obtained by measuring the standard length line ruler, the angle value of the high-speed camera measurement system is obtained by measuring the standard angle line ruler, the diameter value of the high-speed camera measurement system is obtained by measuring the diameter of the standard circle, and the angular acceleration value, angular velocity value, acceleration value and linear velocity value of the high-speed camera measurement system are obtained based on the motion of the image tracking mark.

[0103] After completing step S2.1 of measuring the values ​​of the several captured images multiple times, the average value of the initial values ​​of the high-speed camera measurement system in the multiple measurements is calculated, and the calculated average value of the initial values ​​is used as the value of the high-speed camera measurement system.

[0104] Specifically, the distance value of the high-speed camera measurement system is obtained by measuring the length of the standard length line ruler, the angle value of the high-speed camera measurement system is obtained by measuring the angle of the standard angle line ruler, the diameter value of the high-speed camera measurement system is obtained by measuring the diameter of the standard circle, and the angular acceleration value, angular velocity value, acceleration value, and linear velocity value of the high-speed camera measurement system are obtained based on the motion of the image tracking marker.

[0105] S3. Calculate the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder to obtain the indication error of the high-speed camera measurement system; wherein, the indication error includes distance indication error, angle indication error, diameter indication error, angular acceleration indication error, angular velocity indication error, acceleration indication error, and linear velocity indication error. This step includes steps S3.1 to S3.2, each step is as follows:

[0106] S3.1. Use the preset standard values ​​as the standard values ​​of the dynamic parameter calibration code disk; wherein, the standard values ​​of the dynamic parameter calibration code disk include the distance standard value, angle standard value, diameter standard value, angular acceleration standard value, angular velocity standard value, acceleration standard value and linear velocity standard value of the dynamic parameter calibration code disk.

[0107] Based on the actual situation, preset standard values ​​are used as the standard values ​​for the dynamic parameter calibration code disk. The standard values ​​of the dynamic parameter calibration code disk represent quantitative values ​​with appropriate uncertainty for the target parameter. Specifically, the standard values ​​of the dynamic parameter calibration code disk include the standard values ​​for distance, angle, diameter, angular acceleration, angular velocity, acceleration, and linear velocity.

[0108] S3.2 Calculate the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder to obtain the indication error of the high-speed camera measurement system. This step includes steps S3.2.1 to S3.2.7, each step as follows:

[0109] S3.2.1 Calculate the distance indication error of the high-speed camera measurement system at the preset shooting frame rate. The calculation formula is as follows:

[0110]

[0111] In the formula, ΔL i This represents the distance indication error of the i-th distance calibration point at the preset shooting frame rate; L represents the average value of multiple measurements at the i-th distance calibration point. iS This represents the preset standard value for the i-th distance calibration point. In this embodiment, ΔL i , and L iS All units are mm.

[0112] S3.2.2 Calculate the angle indication error of the high-speed camera measurement system at the preset shooting frame rate. The calculation formula is as follows:

[0113]

[0114] In the formula, Δθ i This represents the angle indication error at the i-th angle calibration point under the preset shooting frame rate; θ represents the average value of multiple measurements at the i-th angle calibration point. iS This represents the preset standard value for the i-th angle calibration point. In this embodiment, Δθ i , and θ iS The unit for all values ​​is rad.

[0115] S3.2.3. Under the preset shooting frame rate, calculate the diameter indication error of the high-speed camera measurement system. The calculation formula is as follows:

[0116]

[0117] In the formula, ΔRi This represents the diameter indication error of the i-th diameter calibration point at the preset shooting frame rate. R represents the average value of multiple measurements at the i-th diameter calibration point. iS This represents the preset standard value for the i-th diameter calibration point. In this embodiment, ΔR i , and R iS All units are mm.

[0118] S3.2.4. Under the preset shooting frame rate, calculate the angular acceleration indication error of the high-speed camera measurement system. The calculation formula is as follows:

[0119]

[0120] In the formula, Δα i This represents the angular acceleration indication error at the i-th angular acceleration calibration point under the preset shooting frame rate. α represents the average value of multiple measurements at the i-th angular acceleration calibration point. iS This represents the preset standard value for the i-th angular acceleration calibration point. In this embodiment, Δα i , and α iS The units are all rad / s 2 .

[0121] S3.2.5. Under the preset shooting frame rate, calculate the angular velocity indication error of the high-speed camera measurement system. The calculation formula is as follows:

[0122]

[0123] In the formula, Δω i This represents the angular velocity indication error at the i-th angular velocity calibration point under the preset shooting frame rate; ω represents the average value of multiple measurements at the i-th angular velocity calibration point. iS This represents the preset standard value for the i-th angular velocity calibration point. In this embodiment, Δω i , and ω iS The units are all rad / s.

[0124] S3.2.6. Under the preset shooting frame rate, calculate the linear acceleration indication error of the high-speed camera measurement system. The calculation formula is as follows:

[0125]

[0126] In the formula, Δa i This represents the linear acceleration indication error at the i-th linear acceleration calibration point under the preset shooting frame rate. a represents the average value of multiple measurements at the i-th linear acceleration calibration point. iS This represents the preset standard value for the i-th linear acceleration calibration point. In this embodiment, Δa i , and a iS The units are all m / s 2 .

[0127] S3.2.7. Under the preset shooting frame rate, calculate the linear velocity indication error of the high-speed camera measurement system. The calculation formula is as follows:

[0128]

[0129] In the formula, Δv i This represents the linear velocity indication error at the i-th linear velocity calibration point under the preset shooting frame rate; v represents the average value of multiple measurements at the i-th linear velocity calibration point. iS This represents the preset standard value for the i-th linear velocity calibration point. In this embodiment, Δv i , and v iS The units are all m / s.

[0130] S4. Based on the indication error of the high-speed camera measurement system, calibrate the dynamic parameters of the high-speed camera measurement system.

[0131] Based on the indication error of the high-speed camera measurement system obtained in step S3, the dynamic parameters of the high-speed camera measurement system are calibrated with the goal of approaching the standard value.

[0132] The implementation of the above embodiments of the present invention has the following beneficial effects:

[0133] This invention provides a dynamic parameter calibration method for a high-speed camera measurement system. Based on the imaging of the dynamic parameter calibration code disk under the high-speed camera measurement system, the method calculates the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk, and calibrates the dynamic parameters of the high-speed camera measurement system according to the difference. This ensures the accuracy and reliability of the dynamic parameters of the high-speed camera measurement system, thereby improving the measurement accuracy of the high-speed camera measurement system.

[0134] Example 2

[0135] Based on the above embodiments, an embodiment of the present invention provides a dynamic parameter calibration system for a high-speed camera measurement system, comprising: a high-speed camera module 101, an indication measurement module 102, an indication error module 103, and a parameter calibration module 104. The system structure is as follows: Figure 4 As shown.

[0136] The high-speed camera module 101 is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk using a high-speed camera measurement system at a preset shooting frame rate, and acquire several captured images; wherein, the upper surface of the dynamic parameter calibration code disk is provided with a standard length line scale, a standard angle line scale, a standard circle and image tracking marks.

[0137] The indication measurement module 102 is used to calibrate the parameters of the encoder based on the captured images and the dynamic parameters measured during the rotation process, thereby obtaining the indication values ​​of the high-speed camera measurement system. Specifically, the distance indication value of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle indication value is obtained by measuring a standard angle line ruler, the diameter indication value is obtained by measuring the diameter of a standard circle, and the angular acceleration, angular velocity, acceleration, and linear velocity indication values ​​of the high-speed camera measurement system are obtained based on the motion of the image tracking marker.

[0138] The indication error module 103 is used to calculate the difference between the indication value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk to obtain the indication error of the high-speed camera measurement system; wherein, the indication error includes distance indication error, angle indication error, diameter indication error, angular acceleration indication error, angular velocity indication error, acceleration indication error and linear velocity indication error;

[0139] The parameter calibration module 104 is used to calibrate the dynamic parameters of the high-speed camera measurement system based on the indication error of the high-speed camera measurement system.

[0140] In one possible implementation, the dynamic parameter calibration code disk 105 has an upper surface as shown in the image. Figure 2 As shown, its lower surface is as follows Figure 3 As shown, it includes a standard length line ruler 201, a standard angle line ruler 202, a standard circle 203, an image tracking mark 204, and a threaded interface 205;

[0141] The standard length line scale 201, the standard angle line scale 202, the standard circle 203, and the image tracking mark 204 are located on the upper surface of the dynamic parameter calibration code disk 105; wherein, the standard length line scale 201 is located directly above the standard angle line scale 202, and the origin of the standard angle line scale 202 and the origin of the standard circle 203 both coincide with the center point of the dynamic parameter calibration code disk 105;

[0142] The image tracking marker 204 includes a solid circle marker, a hollow circle marker, and a four-quadrant circle marker; wherein the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker are equidistant from the center point of the dynamic parameter calibration code disk;

[0143] The threaded interface 205 is located on the lower surface of the dynamic parameter calibration code disk 105, and the center point of the threaded interface 205 coincides with the center point of the dynamic parameter calibration code disk 105.

[0144] The more specific structure of the dynamic parameter calibration code disk 105 may be, but is not limited to, the relevant description in Embodiment 1.

[0145] In one possible implementation, the high-speed camera module 101, as shown... Figure 5 As shown, it includes: a rotating setting unit 301 and a rotating shooting unit 302;

[0146] The rotation setting unit 301 is used to connect the dynamic parameter calibration code disk to a standard rotation speed device so that the dynamic parameter calibration code disk rotates according to a preset start-up acceleration and rotation speed.

[0147] The rotating imaging unit 302 is used to make the dynamic parameter calibration code disk clear and complete on the high-speed camera measurement system at a preset shooting frame rate, and to use the high-speed camera measurement system to capture images of the upper surface of the rotating dynamic parameter calibration code disk to obtain a number of captured images.

[0148] In one possible implementation, the indication measurement module 102, such as Figure 6 As shown, it includes: a measurement setting unit 401 and an indication calculation unit 402;

[0149] The measurement setting unit 401 is used to perform multiple measurement values ​​on the several captured images, sequentially using the distance, angle, diameter, angular acceleration, angular velocity, acceleration and linear velocity of the high-speed camera measurement system as single variables and setting different variable values.

[0150] The indication calculation unit 402 is used to calibrate the parameters of the encoder based on the dynamic parameters measured during the rotation process to obtain the indication values ​​of the high-speed camera measurement system. Specifically, the distance indication value of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle indication value of the high-speed camera measurement system is obtained by measuring a standard angle line ruler, the diameter indication value of the high-speed camera measurement system is obtained by measuring the diameter of a standard circle, and the angular acceleration indication value, angular velocity indication value, acceleration indication value, and linear velocity indication value of the high-speed camera measurement system are obtained based on the motion of the image tracking mark.

[0151] In one possible implementation, the indication error module 103, as shown... Figure 7 As shown, it includes: a standard value unit 501 and an error calculation unit 502;

[0152] The standard value unit 501 is used to use preset standard values ​​as the standard values ​​of the dynamic parameter calibration code disk; wherein, the standard values ​​of the dynamic parameter calibration code disk include the distance standard value, angle standard value, diameter standard value, angular acceleration standard value, angular velocity standard value, acceleration standard value and linear velocity standard value of the dynamic parameter calibration code disk;

[0153] The error calculation unit 502 is used to calculate the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk, so as to obtain the indication error of the high-speed camera measurement system.

[0154] Furthermore, the error calculation unit 502, as shown... Figure 8 As shown, it includes: distance indication error subunit 601, angle indication error subunit 602, diameter indication error subunit 603, angular acceleration indication error subunit 604, angular velocity indication error subunit 605, linear acceleration indication error subunit 606 and linear velocity indication error subunit 607;

[0155] The distance indication error subunit 601 is used to calculate the distance indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0156]

[0157] In the formula, ΔL i This represents the distance indication error of the i-th distance calibration point at the preset shooting frame rate; L represents the average value of multiple measurements at the i-th distance calibration point. iS This represents the preset standard value for the i-th distance calibration point;

[0158] The angle indication error subunit 602 is used to calculate the angle indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0159]

[0160] In the formula, Δθ i This represents the angle indication error at the i-th angle calibration point under the preset shooting frame rate; θ represents the average value of multiple measurements at the i-th angle calibration point. iS This represents the preset standard value of the i-th angle calibration point;

[0161] The diameter indication error subunit 603 is used to calculate the diameter indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0162]

[0163] In the formula, ΔR i This represents the diameter indication error of the i-th diameter calibration point at the preset shooting frame rate. R represents the average value of multiple measurements at the i-th diameter calibration point. iS This represents the preset standard value of the i-th diameter calibration point;

[0164] The angular acceleration indication error subunit 604 is used to calculate the angular acceleration indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0165]

[0166] In the formula, Δα i This represents the angular acceleration indication error at the i-th angular acceleration calibration point under the preset shooting frame rate. α represents the average value of multiple measurements at the i-th angular acceleration calibration point. iS This represents the preset standard value of the i-th angular acceleration calibration point;

[0167] The angular velocity indication error subunit 605 is used to calculate the angular velocity indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0168]

[0169] In the formula, Δω i This represents the angular velocity indication error at the i-th angular velocity calibration point under the preset shooting frame rate; ω represents the average value of multiple measurements at the i-th angular velocity calibration point. iS This represents the preset standard value for the i-th angular velocity calibration point;

[0170] The linear acceleration indication error subunit 606 is used to calculate the linear acceleration indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0171]

[0172] In the formula, Δa i This represents the linear acceleration indication error at the i-th linear acceleration calibration point under the preset shooting frame rate. a represents the average value of multiple measurements at the i-th linear acceleration calibration point. iS This represents the preset standard value for the i-th linear acceleration calibration point;

[0173] The linear velocity indication error subunit 607 is used to calculate the linear velocity indication error of the high-speed camera measurement system at a preset shooting frame rate. The calculation formula is as follows:

[0174]

[0175] In the formula, Δv i This represents the linear velocity indication error at the i-th linear velocity calibration point under the preset shooting frame rate; v represents the average value of multiple measurements at the i-th linear velocity calibration point. iS This represents the preset standard value for the i-th linear velocity calibration point.

[0176] For a more detailed explanation of the working principle and procedures of this embodiment, please refer to the relevant description in Embodiment 1.

[0177] The implementation of the above embodiments of the present invention has the following beneficial effects:

[0178] This invention provides a dynamic parameter calibration system for a high-speed camera measurement system, comprising: a high-speed camera module, an indication measurement module, an indication error module, and a parameter calibration module. The high-speed camera module and the indication measurement module analyze the indication values ​​of the high-speed camera measurement system; the indication error module calculates the error between the indication values ​​of the high-speed camera measurement system and the standard values ​​of the dynamic parameter calibration encoder; and the parameter calibration module calibrates the parameters against the standard values. This ensures the accuracy and reliability of the dynamic parameters of the high-speed camera measurement system, improving the measurement accuracy of the system.

[0179] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for calibrating dynamic parameters of a high-speed camera measurement system, characterized in that, include: At a preset shooting frame rate, a high-speed camera measurement system is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, and a number of captured images are obtained; wherein, the upper surface of the dynamic parameter calibration code disk is provided with a standard length line scale, a standard angle line scale, a standard circle and image tracking marks. Based on the aforementioned images, the parameters of the encoder are calibrated according to the dynamic parameters measured during the rotation process to obtain the readings of the high-speed camera measurement system. Specifically, the distance reading of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle reading is obtained by measuring a standard angle line ruler, the diameter reading is obtained by measuring the diameter of a standard circle, and the angular acceleration, angular velocity, acceleration, and linear velocity readings of the high-speed camera measurement system are obtained based on the motion of the image tracking markers. The difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder is calculated to obtain the indication error of the high-speed camera measurement system; wherein, the indication error includes distance indication error, angle indication error, diameter indication error, angular acceleration indication error, angular velocity indication error, acceleration indication error and linear velocity indication error; The dynamic parameters of the high-speed camera measurement system are calibrated based on the indication error of the high-speed camera measurement system.

2. The dynamic parameter calibration method for a high-speed camera measurement system as described in claim 1, characterized in that, The dynamic parameter calibration encoder includes a standard length line scale, a standard angle line scale, a standard circle, an image tracking mark, and a threaded interface; The standard length line scale, standard angle line scale, standard circle, and image tracking mark are located on the upper surface of the dynamic parameter calibration code disk; wherein, the standard length line scale is located directly above the standard angle line scale, and the origin of the standard angle line scale and the origin of the standard circle coincide with the center point of the dynamic parameter calibration code disk. The image tracking markers include solid circle markers, hollow circle markers, and four-quadrant circle markers; wherein the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker are equidistant from the center point of the dynamic parameter calibration code disk; The threaded interface is located on the lower surface of the dynamic parameter calibration code disk, and the center point of the threaded interface coincides with the center point of the dynamic parameter calibration code disk.

3. The dynamic parameter calibration method for a high-speed camera measurement system as described in claim 1, characterized in that, At a preset shooting frame rate, a high-speed camera measurement system is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, obtaining several captured images, including: A standard rotation speed device is used to connect the dynamic parameter calibration code disk so that the dynamic parameter calibration code disk rotates according to a preset start-up acceleration and rotation speed; At a preset shooting frame rate, the dynamic parameter calibration code disk is clearly and completely imaged on the high-speed camera measurement system. The high-speed camera measurement system is then used to capture images of the upper surface of the rotating dynamic parameter calibration code disk, resulting in several captured images.

4. The dynamic parameter calibration method for a high-speed camera measurement system as described in claim 1, characterized in that, The step of calibrating the encoder parameters based on the captured images and the dynamic parameters measured during the rotation process to obtain the readings of the high-speed camera measurement system includes: The distance, angle, diameter, angular acceleration, angular velocity, acceleration and linear velocity of the high-speed camera measurement system are used as single variables, and different variable values ​​are set to measure the values ​​of the captured images multiple times. The parameters of the encoder are calibrated based on the dynamic parameters of the rotation process measured by the camera, and the readings of the high-speed camera measurement system are obtained. Among them, the distance reading of the high-speed camera measurement system is obtained by measuring the standard length line ruler, the angle reading of the high-speed camera measurement system is obtained by measuring the standard angle line ruler, the diameter reading of the high-speed camera measurement system is obtained by measuring the diameter of the standard circle, and the angular acceleration, angular velocity, acceleration and linear velocity readings of the high-speed camera measurement system are obtained based on the motion of the image tracking marker.

5. The dynamic parameter calibration method for a high-speed camera measurement system as described in claim 1, characterized in that, The calculation of the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder yields the indication error of the high-speed camera measurement system, including: The preset standard values ​​are used as the standard values ​​for the dynamic parameter calibration code disk; wherein, the standard values ​​for the dynamic parameter calibration code disk include the standard values ​​for distance, angle, diameter, angular acceleration, angular velocity, acceleration, and linear velocity of the dynamic parameter calibration code disk; The difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder is calculated to obtain the indication error of the high-speed camera measurement system.

6. The dynamic parameter calibration method for a high-speed camera measurement system as described in claim 5, characterized in that, The calculation of the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration encoder yields the indication error of the high-speed camera measurement system, including: At the preset shooting frame rate, the distance indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, ΔLi represents the distance indication error of the i-th distance calibration point under the preset shooting frame rate; LiS represents the average value of multiple measurements at the i-th distance calibration point, and LiS represents the preset standard value of the i-th distance calibration point. At the preset shooting frame rate, the angle indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, Δθi represents the angle indication error of the i-th angle calibration point under the preset shooting frame rate; θiS represents the average value of multiple measurements at the i-th angle calibration point, and θiS represents the preset standard value of the i-th angle calibration point; At the preset shooting frame rate, the diameter indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, ΔR i This represents the diameter indication error of the i-th diameter calibration point at the preset shooting frame rate. R represents the average value of multiple measurements at the i-th diameter calibration point. iS This represents the preset standard value of the i-th diameter calibration point; At the preset shooting frame rate, the angular acceleration indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, Δα i This represents the angular acceleration indication error at the i-th angular acceleration calibration point under the preset shooting frame rate. α represents the average value of multiple measurements at the i-th angular acceleration calibration point. iS This represents the preset standard value of the i-th angular acceleration calibration point; At the preset shooting frame rate, the angular velocity indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, Δω i This represents the angular velocity indication error at the i-th angular velocity calibration point under the preset shooting frame rate; ω represents the average value of multiple measurements at the i-th angular velocity calibration point. iS This represents the preset standard value for the i-th angular velocity calibration point; At the preset shooting frame rate, the linear acceleration indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, Δa i This represents the linear acceleration indication error at the i-th linear acceleration calibration point under the preset shooting frame rate. a represents the average value of multiple measurements at the i-th linear acceleration calibration point. iS This represents the preset standard value for the i-th linear acceleration calibration point; At the preset shooting frame rate, the linear velocity indication error of the high-speed camera measurement system is calculated using the following formula: In the formula, Δv i This represents the linear velocity indication error at the i-th linear velocity calibration point under the preset shooting frame rate; v represents the average value of multiple measurements at the i-th linear velocity calibration point. iS This represents the preset standard value for the i-th linear velocity calibration point.

7. A dynamic parameter calibration system for a high-speed camera measurement system, characterized in that, include: High-speed camera module, indication measurement module, indication error module, and parameter calibration module; The high-speed camera module is used to capture images of the upper surface of the rotating dynamic parameter calibration code disk using a high-speed camera measurement system at a preset shooting frame rate, and acquire several captured images; wherein, the upper surface of the dynamic parameter calibration code disk is provided with a standard length line scale, a standard angle line scale, a standard circle and image tracking marks. The indication measurement module is used to calibrate the parameters of the encoder based on the captured images and the dynamic parameters measured during the rotation process, thereby obtaining the indication values ​​of the high-speed camera measurement system. Specifically, the distance indication value of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle indication value is obtained by measuring a standard angle line ruler, the diameter indication value is obtained by measuring the diameter of a standard circle, and the angular acceleration, angular velocity, acceleration, and linear velocity indication values ​​of the high-speed camera measurement system are obtained based on the motion of the image tracking marker. The indication error module is used to calculate the difference between the indication value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk to obtain the indication error of the high-speed camera measurement system; wherein, the indication error includes distance indication error, angle indication error, diameter indication error, angular acceleration indication error, angular velocity indication error, acceleration indication error and linear velocity indication error; The parameter calibration module is used to calibrate the dynamic parameters of the high-speed camera measurement system based on the indication error of the high-speed camera measurement system.

8. The dynamic parameter calibration system for a high-speed camera measurement system as described in claim 7, characterized in that, The dynamic parameter calibration encoder includes a standard length line scale, a standard angle line scale, a standard circle, an image tracking mark, and a threaded interface; The standard length line scale, standard angle line scale, standard circle, and image tracking mark are located on the upper surface of the dynamic parameter calibration code disk; wherein, the standard length line scale is located directly above the standard angle line scale, and the origin of the standard angle line scale and the origin of the standard circle coincide with the center point of the dynamic parameter calibration code disk. The image tracking markers include solid circle markers, hollow circle markers, and four-quadrant circle markers; wherein the center of the solid circle marker, the center of the hollow circle marker, and the center of the four-quadrant circle marker are equidistant from the center point of the dynamic parameter calibration code disk; The threaded interface is located on the lower surface of the dynamic parameter calibration code disk, and the center point of the threaded interface coincides with the center point of the dynamic parameter calibration code disk.

9. The dynamic parameter calibration system for a high-speed camera measurement system as described in claim 7, characterized in that, The indication measurement module includes: a measurement setting unit and an indication calculation unit; The measurement setting unit is used to perform multiple measurement values ​​on the several captured images, sequentially using the distance, angle, diameter, angular acceleration, angular velocity, acceleration and linear velocity of the high-speed camera measurement system as single variables and setting different variable values. The indicated value calculation unit is used to calibrate the parameters of the encoder disk based on the dynamic parameters measured during the rotation process to obtain the indicated values ​​of the high-speed camera measurement system. Specifically, the distance indicated value of the high-speed camera measurement system is obtained by measuring a standard length line ruler, the angle indicated value of the high-speed camera measurement system is obtained by measuring a standard angle line ruler, the diameter indicated value of the high-speed camera measurement system is obtained by measuring the diameter of a standard circle, and the angular acceleration indicated value, angular velocity indicated value, acceleration indicated value, and linear velocity indicated value of the high-speed camera measurement system are obtained based on the motion of the image tracking mark.

10. The dynamic parameter calibration system for a high-speed camera measurement system as described in claim 7, characterized in that, The indication error module includes: a standard value unit and an error calculation unit; The standard value unit is used to use a preset standard value as the standard value of the dynamic parameter calibration code disk; wherein, the standard value of the dynamic parameter calibration code disk includes the distance standard value, angle standard value, diameter standard value, angular acceleration standard value, angular velocity standard value, acceleration standard value and linear velocity standard value of the dynamic parameter calibration code disk; The error calculation unit is used to calculate the difference between the indicated value of the high-speed camera measurement system and the standard value of the dynamic parameter calibration code disk, so as to obtain the indication error of the high-speed camera measurement system.

Images