Method and device for comprehensively measuring motion state of rotating object

Abstract

The invention relates to the technical field of moving object detection, in particular to a method for comprehensively measuring the motion state of a rotating object, which comprises the following steps of: uniformly distributing a plurality of circular chartlets which have obvious chromatic aberration with the surface of a measured rotating body on the surface of the measured rotating body along the circumferential direction of the measured rotating body according to a diameter increasing or decreasing mode; calibrating a high-speed camera, shooting the measured rotating body by using the high-speed camera, reading an image shot by the high-speed camera, and preprocessing the read image; extracting an external contour in the image by adopting a findContours function of OpenCV, fitting a circle or an ellipse through an algorithm, and performing correction; and calculating the rotating speed, the jumping displacement and the swinging angle of the measured rotating body according to various data of the measured rotating body and the circular chartlet obtained after fitting. Changes of the circle center position of the circular map on the rotating body relative to the rotating center are directly measured, changes of the rotating angle are obtained, the rotating speed, the jumping displacement and the swinging angle are further obtained, precision is high, and the measuring range is large.

Description

Technical Field

[0001] The present invention relates to the technical field of moving object detection, and in particular to a method and device for comprehensively measuring the motion state of a rotating object. Background Art

[0002] Currently, there are three methods for speed detection: contact, non-contact, and image and signal processing. For scenarios such as engines and wheels that need to detect instantaneous speed as well as swing and jump, contact measurement methods, such as mechanical tachometers, require contact with the rotating shaft and use centrifugal force to drive the pointer. They have a simple structure but low accuracy. Handheld contact tachometers require the measuring head to contact the end face of the rotating shaft and sense the speed through the friction wheel. They are easy to operate and suitable for intermittent measurement, but are not suitable for measurement scenarios that require high precision. Hall effect sensor measurement is a Hall effect sensor + gear / magnet. Magnets or gears need to be installed on the rotating body. Each time a pulse passes through the sensor, the speed is obtained by counting the number of pulses per unit time. However, its installation is complicated, it is easily interfered with, the accuracy is very poor at low speeds, and the cost is high.

[0003] Non-contact measurement methods, such as laser / photoelectric speed sensors, require reflective strips to be attached to the shaft to detect changes in reflection when the laser is irradiated. They are highly accurate at high speeds, but cannot detect low speeds, such as multiple speed changes within a single revolution. Common encoder (rotary encoder) measurement methods require installation on a rotating shaft to output electrical pulses, calculate the speed by the number of pulses per unit time, and simultaneously obtain angular displacement information. However, their installation is cumbersome and costly, and they are difficult to install on engine flywheels.

[0004] Image and signal processing measurement methods, such as spectrum analysis (e.g., vibration frequency), are often used to indirectly infer rotational speed. For example, the rotation of certain equipment can cause vibration or sound at a fixed frequency. However, this method makes it difficult to arbitrarily change the object being measured, and initial configuration is cumbersome.

[0005] In 2016, Jilin University, as the applicant, filed a patent application with application number 201620044856.3, titled "Automobile Braking Timing Detection Device Based on Stereo Vision." The patent mentioned that the braking timing of automobile wheels is detected by vision, and the change in wheel speed is calculated by the relationship between the change in lateral displacement of the label on the wheel and time. The measurement is required after the wheel rotates one circle, and it only measures the speed, and cannot measure the comprehensive motion state of the rotating object.

[0006] In summary, the current detection methods have problems such as weak instantaneous parameter detection capability, cumbersome installation steps, and inability to measure comprehensive motion states. Summary of the Invention

[0007] In response to the above-mentioned deficiencies, the present invention proposes a method and device for comprehensively measuring the motion state of a rotating object to solve the problems of the prior art such as weak instantaneous parameter detection capability, cumbersome installation steps, and inability to measure the comprehensive motion state.

[0008] The present invention provides a method for comprehensively measuring the motion state of a rotating object, comprising: Step 1: evenly distribute a plurality of circular patterns with obvious color difference from the surface of the rotating object to be measured on the surface of the rotating object to be measured along the circumference of the rotating object to be measured in a manner of increasing or decreasing diameter; Step 2: calibrate the high-speed camera, use the high-speed camera to shoot the rotating object to be measured, read the image captured by the high-speed camera, and pre-process the read image; Step 3: Use OpenCV's findContours function to extract the outer contour of the image, fit a circle or ellipse through an algorithm, and perform correction; Step 4: Calculate the rotation speed, runout displacement and swing angle of the measured rotating body according to the data of the measured rotating body and the circular map obtained after fitting.

[0009] As a preferred embodiment, the pattern of the circular map is a single layer or multiple layers of circular ring patterns.

[0010] As a preferred embodiment, pre-processing the read image includes: de-distorting and gray-scale processing the read image, and automatically performing color inversion processing to enhance contrast when the image is bright overall.

[0011] As a preferred implementation, the image with enhanced contrast after grayscale processing is Gaussian blurred and smoothed; the edges of the rotating object to be measured and the edges of the circular map are detected by the Canny algorithm, and then the edge image is morphologically closed to fill the broken edges.

[0012] As a preferred embodiment, step 3 includes: The ellipse is fitted using the fitEllipse algorithm of OpenCV to obtain the center coordinates, the lengths of the major axis and the minor axis; The circle uses OpenCV's minEnclosingCircle algorithm to calculate the minimum circumscribed circle to fit the center coordinates and diameter length of the circle; When the circular pattern and the rotating object being measured are photographed with a high-speed camera in a non-aligned state, if the boundary of the identified circle is fitted to an ellipse, it is corrected to a circle; The proportion of the fitted ellipse is corrected after analysis and calculation.

[0013] As a preferred embodiment, the method for calculating the rotational speed of the measured rotating body is: calculating the center coordinates of all circular maps on the surface of the measured rotating body and the center coordinates of the surface of the measured rotating body to obtain the angles between the centers of all circular maps and the center of the surface of the measured rotating body, and obtaining the weighted rotational speed of the measured rotating body by changing the angles between each circular map in the previous and next frames and the center of the measured rotating body and weighting them.

[0014] As a preferred embodiment, the method for calculating the weighted rotational speed of the measured rotating body is: Where μ is the weighting coefficient, μ1+μ2+μ3+…+μ x =1, It represents the angle of the xth circular map at the n+1th frame, and the time interval between adjacent frames is t.

[0015] As a preferred embodiment, the method for calculating the jitter displacement of the measured rotating body is: obtaining the distance represented by the unit pixel through the actual diameter of each circular map and the diameter obtained after fitting, obtaining the up and down jitter displacement through the coordinate change in the vertical direction of the center of the rotating body or the vertical displacement of other circular maps obtained by the known rotation speed, and obtaining the weighted jitter displacement after weighting.

[0016] As a preferred embodiment, the method for calculating the swing angle of the measured rotating body is: the swing angle of the measured rotating body is obtained by the ratio of the major and minor axes of the circular pattern and the measured rotating body, and the weighted major and minor axis ratio is obtained by weighting the major and minor axis ratios of other circular maps, and then the weighted swing angle is obtained.

[0017] The present invention also provides a comprehensive measurement device for the motion state of a rotating object, comprising: a high-speed camera, a rotating object to be measured, and a plurality of circular maps with obvious color differences and different sizes from the rotating object to be measured. The high-speed camera is used to capture an image of the rotating object to be measured, and the image captured by the high-speed camera is processed in real time by a computer motion state processing program to obtain the motion state parameters of the rotation speed, jump and swing of the rotating object to be measured.

[0018] Compared with the existing technology, the present invention can perform contactless measurement, directly measure the change in the position of the center of the circular pattern on the measured rotating body relative to the rotation center, obtain the change in the rotation angle, and then obtain the comprehensive motion state parameters of the measured rotating body. In addition, the measuring device does not need to be installed on the measured equipment all the time, can be quickly installed and disassembled, does not require tedious installation and calibration, and has ideal measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of a method for measuring the motion state of a rotating object (omitting step 1) according to the present invention;

[0020] Figure 2 This is a principle block diagram of a method for measuring the motion state of a rotating object according to the present invention;

[0021] Figure 3 This is a schematic diagram of the surface mapping of the rotating body to be measured in the present invention;

[0022] Figure 4 This is a schematic diagram of the present invention in which the high-speed camera follows the rotating object being measured and is fixed;

[0023] Figure 5 This is a schematic diagram of the high-speed camera of the present invention in a handheld, non-fixed usage mode;

[0024] Figure 6 This is a schematic diagram of the principle of detecting the swing angle of the rotating body to be measured according to the present invention.

[0025] Reference numerals: 1 - rotating object to be measured; 2 - circular map; 3 - high-speed camera. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0027] At present, with the iteration of high-speed cameras and the advancement of image processing technology, there is a certain technical foundation for real-time detection of the comprehensive motion state parameters of rotating objects in high-speed scenarios. In experiments on instantaneous speed measurement of engine start-stop, as well as related experiments such as engine fault diagnosis and automobile wheel status detection, considering that the application scenarios of the device require very high detection accuracy and a very high detection range and need to be frequently disassembled and assembled in different equipment, the method and device of the present invention are suitable for experimental conditions. For example, in experiments on instantaneous speed measurement of engine start-stop, as well as experiments on engine fault diagnosis, the measuring device does not need to be installed on the device under test all the time. It is necessary to consider that the measurement accuracy should be high and the range should be large, and it can be quickly adapted to various models and can be quickly installed without excessive calibration.

[0028] In experiments measuring the motion state of wheels, if the device is mounted on a vehicle, the measuring device needs to be quickly installed and disassembled and adaptable to various wheels to prevent cumbersome installation and the inability to easily change the model being measured. This invention proposes a high-speed camera + image recognition measurement method that enables non-contact, easy-to-install, and high-precision measurement of the motion state of objects such as wheels and engine flywheels. Compared to other methods and devices, the method and device provided by this invention can detect the comprehensive motion state of rotating objects with ideal accuracy. The specific details are described below.

[0029] like Figure 1 、 Figure 2 As shown, the present invention provides a method for comprehensively measuring the motion state of a rotating object, which specifically includes the following steps:

[0030] Step 1: Place several circular shapes with obvious color difference from the surface of the rotating body 1 to be measured. Figure 2 , they are evenly distributed on the surface of the measured rotating body in an increasing or decreasing diameter manner along the circumference of the measured rotating body.

[0031] Specifically, prepare several circular maps of known size and different sizes, with obvious color difference from the surface of the rotating object to be measured. Considering that in the process of circular fitting, the diameter and center coordinates of the solid circle are not as accurate as those of the ring, the pattern on the circular map is a ring, but the number of layers is not limited and depends on the situation. If the number of rings is too large, the fitting accuracy of the circle with smaller inner diameter will be relatively poor, so the number of rings can be moderate, such as Figure 3 In the case of a single layer of four circular rings, in other embodiments of the present invention, different numbers of circular maps can be selected as needed, and the number of layers of circular rings on the circular map can be adjusted.

[0032] The circular patches with obvious color difference from the surface of the rotating object to be measured are evenly pasted on the surface of the rotating object to be measured in the order from large to small or from small to large in the clockwise or counterclockwise direction. Considering the convenience of this method in actual use, the precise position of the circular patches is not required, only uniform distribution is required. Figure 3 That is, the circular map is attached to the surface of the rotating body to be measured. The diameters of the circular map prepared in advance are as follows in the clockwise direction:

[0033] Step 2: calibrate the high-speed camera 3, use the high-speed camera to shoot the rotating object to be measured, read the image shot by the high-speed camera, and pre-process the read image.

[0034] Specifically, the high-speed camera is calibrated in advance to remove distortion. Since the camera is not completely facing the rotating object, the object being photographed is deformed, and the camera angle needs to be corrected. Please refer to Figure 4 、 Figure 5, arrange the detection device, determine whether to fix the high-speed camera according to the state of the rotating object to be measured, and detect the rotating object in a moving state, such as the movement state of the wheel of a car during driving, the high-speed camera must be fixed to the car body through a bracket, the camera is facing the wheel to be detected, and a high-contrast circular map is affixed to the wheel. The computer is installed on the car, and the motion state can be comprehensively measured in real time through the image captured by the high-speed camera during the driving process of the vehicle. To detect the movement state of a rotating object in a stationary state, such as the movement state of an engine flywheel, the high-speed camera only needs to be fixed with a bracket or held by a person to face the high-contrast circular map.

[0035] Furthermore, the read image is pre-processed, including: dedistorting and grayscale processing the read image for subsequent calculations. If the image is bright overall, it is automatically inverted to enhance contrast. Furthermore, the image with enhanced contrast after grayscale processing is Gaussian blurred and smoothed. The edges of rotating objects such as wheels and engine flywheels, as well as the edges of circular maps, are detected using the Canny algorithm (an edge detection algorithm used to detect edges in images). Morphological closing operations are then performed on the edge image to fill in broken edges for subsequent image analysis and calculations.

[0036] Step 3: Use OpenCV's findContours function to extract the outer contour of the image, fit a circle or ellipse through an algorithm, and perform correction.

[0037] The findContours function of OpenCV (a function used in OpenCV to detect contours in an image) is used to extract the outer contours of the image, and then a circle or ellipse is fitted. Considering that the shooting angle may not be ideal during the shooting process, and considering the advantages of the present invention, it is necessary to correct the processed image to subtract the error of the shooting angle.

[0038] Specifically, the method for processing shooting angle errors is that when the circular pattern in the circular map and the rotating object to be measured are photographed with a high-speed camera at a certain angle and not facing each other, the boundary of the identified circular pattern and the boundary of the rotating object to be measured are fitted into an ellipse. The relationship between the ratio of the major and minor axes and the ellipse can be deduced that correction is required. Since the computer's motion state processing program does not need to ensure the ratio of the picture, it is only necessary to convert the fitted ellipse into a circle. It does not need to be completely restored, but only needs to be corrected to a circle. Suppose the center, major axis and minor axis of the fitted ellipse are a; b. The minor axis b is used as the diameter of the circle, and the major axis is reduced by the ratio of a / b. Since the camera is fixed, the proportion is corrected by the position of the major and minor axes of the photographed ellipse. All subsequent parameters can be processed in this way.

[0039] This step applies to all scenarios in this invention. When the high-speed camera is fixed, only the initial frame needs to be calibrated once. The calibration angle of the initial frame can then be used to detect all motion states of the rotating object. However, for handheld cameras, due to the presence of jitter, each frame needs to be processed, and in this case, only the rotation speed can be detected.

[0040] Among them, in order to achieve high precision when fitting the contour, OpenCV's cv2.fitEllipse algorithm is used (a function in OpenCV used to fit an ellipse of a two-dimensional point set, but a circle is also a special case of an ellipse with equal major and minor axes. The present invention takes into account the situation where a circle is photographed as an ellipse when it is not facing straight, and a circle is photographed after subsequent correction. cv2.fitEllipse is compatible with the states of a circle and an ellipse) to fit a circle or an ellipse. The ellipse is fitted using OpenCV's fitEllipse algorithm (fitEllipse is a function in OpenCV used to fit an ellipse around a set of 2D points. It is calculated based on the least squares method and returns an ellipse that best fits the given point set in the least squares sense) to obtain the center coordinates, the lengths of the major axis and the minor axis; the circle is fitted using OpenCV's minEnclosingCircle algorithm (minEnclosingCircle is a function in OpenCV used to calculate the minimum circumscribed circle of a given point set) to calculate the minimum circumscribed circle to fit the center coordinates and the length of the diameter of the circle.

[0041] Considering that handheld devices may not be able to directly face the rotating object being measured, as in situations like a rotating wheel, the image is fitted to an ellipse, which is then analyzed and calculated to correct the image's angle. Given the ease of use of circular maps on rotating objects, their position does not need to be precisely fixed. After fitting, the detected circles or ellipses are grouped by diameter. The change between the two frames of the image allows the rotation position to be determined. Multiple circular maps can also be weighted to reduce errors.

[0042] Furthermore, considering the convenience of processing, the circular maps are pasted in the order from large to small or from small to large in a counterclockwise direction, such as Figure 3, making it easier to group and sort them, know the position of the rotating body, and increase the detection range. For example, a high-speed camera can take 100 pictures per second. When the speed exceeds 6,000 revolutions per minute, the detection range can be increased by the principle of proximity. For example, when the speed is close to 6,000 revolutions per minute, each frame detected by the camera is basically similar. At this time, the speed is close to one revolution per shot. When the speed is higher than 6,000 revolutions, the angular acceleration of the previous frames is analyzed to determine whether the speed exceeds one revolution per frame or suddenly approaches zero. This allows for the measurement of higher speeds. However, in this case, the detection must be started from the unstarted state.

[0043] Step 4: Calculate the rotation speed, runout displacement and swing angle of the measured rotating body according to the data of the measured rotating body and the circular map obtained after fitting.

[0044] Specifically, the center of the rotating object being measured is identified, which is also the center of rotation around the circular map. At the same time, the centers of the other circular maps are identified. Their pixel coordinates are calculated, and the number of pixels of the diameter of each circle is calculated. This will give the coordinates of all the centers of the rotating object, including the center of the rotating object being measured. Through prior calibration, the diameter of each circle is known and the number of pixels of the diameter is calculated, which can be used to determine the distance represented by each pixel. After the preliminary work is completed, the boundary is fitted through the algorithm, and the center of the image, or the center of the ellipse, can be obtained. Initially, the rotating object is stationary. After calibration and other calibration, the rotating object can be moved.

[0045] The center and diameter of the corrected rotating body and circular map can be obtained through the algorithm. The center of the rotating body to be measured is O0=(X0, Y0), and the diameter is The center and diameter of the circular map are The center of the circle is the pixel coordinate in the image, and the unit of the diameter is pixel. Alternatively, the obtained value may be the ratio of the major and minor axes of the measured rotating object and the circular map, as well as the major and minor axes. Correction can be performed through the ratio of the major and minor axes. One advantage of this system is that it does not need to consider factors such as the specific size, but only needs to ensure that the size is easy to fit.

[0046] Furthermore, the motion state of the measured rotating body is calculated. By processing each frame of the image, the center coordinates and diameter of the measured rotating body and the circular map on the measured rotating body in each frame of the image are obtained: Where x represents the number of circular maps, x = 1, 2, 3, 4...; n represents the (n+1)th frame, n = 0, 1, 2, 3, 4...; the diameter of each circle measured in a fixed state without swinging remains unchanged, but changes when swinging occurs.

[0047] By formula The angles θ1, θ2, θ3, θ4, etc. between each circular map and the center of the measured rotating body can be obtained. The accuracy of the angles obtained through the test can reach the accuracy of commonly used encoders.

[0048] The rotation speed is calculated by the change in the angle between each circular map of the previous and next frames and the center of the rotating body being measured. Let the time interval between adjacent frames be t, as shown in the formula As shown, in order to further improve the accuracy, the multi-ring method is used to make the rotation angle more accurate by weighting, as shown in the formula: Since the smaller the circle, the lower the fitting accuracy, the weighting coefficient μ needs to be adjusted according to the diameter, μ=μ1,μ 2, μ3,…,μ x , and μ1+μ2+μ3+…+μ x =1, Indicates the angle of the xth circular texture at the n+1th frame.

[0049] Furthermore, when the high-speed camera is fixed, the diameter of the rotating body and the circular map on the rotating body are measured, and the formula The distance represented by each pixel is converted and the change of the pixel of the center of the rotating body in the vertical direction of the previous and next frames is obtained by the formula It is concluded that through the formula The vertical runout displacement L of the measured rotating body can be obtained.

[0050] Further, such as Figure 6 As shown in the figure, after the initial de-distortion and angle correction, when the rotating body swings, the detected circle will still become an ellipse. Similarly, the swing of the rotating body can be obtained in a similar way to the initial correction. When the rotating body swings similar to the deflection of a wheel, the original circle will become an ellipse. The major axis of the ellipse is equal to the original diameter, and the minor axis will become smaller. As the swing angle increases, the minor axis of the ellipse will become smaller and smaller. The lower the eccentricity of the ellipse, the major axis a1 and the minor axis length b1 of the ellipse can be obtained by fitting.

[0051] Furthermore, after obtaining the length of the major axis a1 and the minor axis b1 of the ellipse, combined with Figure 6 , we can get the formula d=a1·cosα, such as Figure 4 , d is the diameter of the circle and the length of the short axis detected by the camera after deflection by angle α, and a1 is also the diameter of the circle, then the angle of the rotating body swing is

[0052] Furthermore, α1 is calculated based on the swing angles of all circles; A weighted swing angle can be obtained by weighting all angles using a method similar to that used to calculate the weighted rotational speed. This allows for the real-time determination of the comprehensive motion state parameters of the rotating body detected by the method.

[0053] The present invention obtains the change of the rotation angle and the rotation speed by directly measuring the change of the position of the center of the circular pattern on the rotating body relative to the rotation center, and calculates the comprehensive motion state parameters such as the beating displacement and the swing angle. It has a large detection range, high accuracy, and is easy to disassemble and assemble.

[0054] A second embodiment of the present invention provides a comprehensive measurement device for the motion state of a rotating object, comprising: a high-speed camera, a rotating object to be measured, and several circular maps with obvious color differences and different sizes from the rotating object to be measured. The high-speed camera is used to capture an image of the rotating object to be measured, and the image captured by the high-speed camera is processed in real time by a computer to obtain the rotational speed, runout displacement, and swing angle of the rotating object to be measured.

[0055] Please refer to the detailed description of the program method executed by the computer in Example 1, which will not be repeated here.

[0056] The present invention provides a comprehensive measurement device for the motion state of a rotating object. To detect a rotating object in a moving state, such as the motion state of a wheel of a car during driving, a high-speed camera must be fixed to the car body through a bracket, the camera is facing the wheel to be detected, and a circular map with obvious color difference is attached to the wheel. A computer is installed on the car. During the driving of the vehicle, the motion state can be comprehensively measured in real time through the image captured by the high-speed camera. To detect the motion state of a rotating object in a stationary state, such as the motion state of an engine flywheel, the high-speed camera only needs to be fixed with a bracket or held by a person to face the circular map with obvious color difference. The image captured by the high-speed camera is then processed by the computer in real time to obtain all parameters, thereby obtaining the comprehensive motion state of the measured rotating object in real time. The device has the advantages of non-contact measurement, no need for tedious installation and calibration, low cost, high detection accuracy, and can detect the instantaneous rotation speed and the state parameters of the jumping and swinging of the measured rotating object, and simple operation.

[0057] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for comprehensively measuring the motion state of a rotating object, characterized in that: include: Step 1: evenly distribute a plurality of circular patterns with obvious color difference from the surface of the rotating object to be measured on the surface of the rotating object to be measured along the circumference of the rotating object to be measured in a manner of increasing or decreasing diameter; Step 2: calibrate the high-speed camera, use the high-speed camera to shoot the rotating object to be measured, read the image captured by the high-speed camera, and pre-process the read image; Step 3: Use OpenCV's findContours function to extract the outer contour of the image, fit a circle or ellipse through an algorithm, and perform correction; Step 4: Calculate the rotation speed, runout displacement and swing angle of the measured rotating body according to the data of the measured rotating body and the circular map obtained after fitting.

2. A method for comprehensive measurement of the motion state of a rotating object according to claim 1, characterized in that: The pattern of the circular map in step 1 is a single layer or multiple layers of circular ring patterns.

3. The method for comprehensive measurement of the motion state of a rotating object according to claim 1, characterized in that: The pre-processing of the read image in step 2 includes: de-distortion and grayscale processing of the read image. When the image is bright as a whole, the color is automatically inverted to enhance the contrast.

4. A method for comprehensive measurement of the motion state of a rotating object according to claim 3, characterized in that: Gaussian blur and smoothing are performed on the image with enhanced contrast after grayscale processing; the edges of the rotating object and the circular map are detected by Canny algorithm, and then the edge image is morphologically closed to fill the broken edges.

5. The method for comprehensive measurement of the state and motion of a rotating object according to claim 1, characterized in that: Step 3 includes: The ellipse is fitted using the fitEllipse algorithm of OpenCV to obtain the center coordinates, the lengths of the major axis and the minor axis; The circle uses OpenCV's minEnclosingCircle algorithm to calculate the minimum circumscribed circle to fit the center coordinates and diameter length of the circle; When the circular pattern and the rotating object being measured are photographed by a high-speed camera in a non-aligned manner, if the boundary of the identified circle is an ellipse, it is corrected to a circle; The proportion of the fitted ellipse is corrected after analysis and calculation.

6. A method for comprehensive measurement of the motion state of a rotating object according to claim 5, characterized in that: The method for calculating the rotational speed of the measured rotating body in step 4 is: calculate the center coordinates of all circular maps on the surface of the measured rotating body and the center coordinates of the surface of the measured rotating body to obtain the angles between the centers of all circular maps and the center of the surface of the measured rotating body, and obtain the weighted rotational speed of the measured rotating body by changing the angles between each circular map in the previous and next frames and the center of the measured rotating body and weighting them.

7. A method for comprehensive measurement of the motion state of a rotating object according to claim 6, characterized in that: The method for calculating the weighted rotational speed of the measured rotating body is: Where μ is the weighting coefficient, μ1+μ2+μ3+…+μ x =1, It represents the angle of the xth circular map at the n+1th frame, and the time interval between adjacent frames is t.

8. The method for comprehensive measurement of the motion state of a rotating object according to claim 5, characterized in that: The method for calculating the jitter displacement of the measured rotating body in step 4 is: obtain the distance represented by the unit pixel through the actual diameter and the fitted diameter of each circular map, obtain the upper and lower jitter displacement through the coordinate change in the vertical direction of the center of the measured rotating body, or obtain the vertical displacement of other circular maps obtained by the known rotation speed, and obtain the weighted jitter displacement after weighting.

9. A method for comprehensive measurement of the motion state of a rotating object according to claim 5, characterized in that: The method for calculating the swing angle of the measured rotating body in step 4 is: the swing angle of the measured rotating body is obtained by the ratio of the major and minor axes of the circular map and the rotating body, and the weighted major and minor axis ratio is obtained by weighting the detected circular map, and then the weighted swing angle is obtained.

10. A device for comprehensively measuring the motion state of a rotating object, characterized in that: include: A high-speed camera, a rotating object to be measured, and a plurality of circular maps of different sizes and with obvious color difference from the rotating object to be measured are provided. The high-speed camera is used to capture an image of the rotating object to be measured. A computer is used to execute the method according to any one of claims 1 to 9 to process the image captured by the high-speed camera in real time to obtain the rotation speed, runout displacement and swing angle of the rotating object to be measured.

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