Monocular Vision Angular Velocity Measurement
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Solution Overview
Problem
Existing methods for measuring angular velocity and angular acceleration of rotary motion are hindered by high cost, complexity, and limited flexibility, with poor accuracy across a wide frequency range.
Innovation Solution
A monocular vision-based method involving a feature mark with a straight line and circles, template matching, line segment detection, and least square-based linear fitting to extract feature line edges and calculate angular velocity and acceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser interferometry is used to measure angular velocity and angular acceleration, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces the mechanical laser interferometry system with a vision-based measurement system using a single camera. The monocular vision system captures images of feature marks on the rotary motion generating device, and angular velocity and acceleration are calculated through image processing and mathematical algorithms, eliminating the need for complex mechanical interferometry apparatus while maintaining measurement precision.
Solution Approach 2:
The patent uses visual copying of the feature mark positions from the rotary motion generating device through camera imaging. By capturing and processing images of the feature marks at different rotational positions, the system reconstructs angular information without direct mechanical contact or complex measurement apparatus, achieving accurate measurement through optical copying and computational analysis.
2Measurement precision
If laser interferometry is used to measure angular velocity and angular acceleration, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces the operationally complex laser interferometry system with a simple monocular vision system. The measurement process is simplified to capturing images with a single camera and processing them through automated algorithms, eliminating the need for complex optical alignment, calibration procedures, and manual operations required by laser interferometry, thereby significantly improving ease of operation.
3Device complexity
If inclination sensor or gyroscope is used to measure rotation angle, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent uses visual copying of feature mark positions through camera imaging to determine rotation angle, replacing physical sensors. By capturing images of the feature marks and calculating their positions relative to the camera coordinate system, the system achieves high measurement precision without the limitations of sensor dynamic characteristics and calibration accuracy, while keeping the device structure simple.
Solution Approach 2:
The patent replaces physical inclination sensors or gyroscopes with a vision-based measurement system. Instead of using sensors that have inherent limitations in precision and dynamic range, the system uses optical imaging and mathematical calculations to determine rotation angle, achieving superior measurement precision while maintaining simple device structure and avoiding sensor-related constraints.
4Device complexity
If inclination sensor or gyroscope is used to measure rotation angle, then cost is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent uses visual copying of feature mark positions through camera imaging to determine rotation angle, replacing physical sensors. By capturing images of the feature marks and calculating their positions relative to the camera coordinate system, the system achieves high measurement precision without the limitations of sensor dynamic characteristics and calibration accuracy, while keeping the device structure simple.
Solution Approach 2:
The patent replaces physical inclination sensors or gyroscopes with a vision-based measurement system. Instead of using sensors that have inherent limitations in precision and dynamic range, the system uses optical imaging and mathematical calculations to determine rotation angle, achieving superior measurement precision while maintaining simple device structure and avoiding sensor-related constraints.
5Device complexity
If monocular vision method is used to measure angular velocity and angular acceleration, then device complexity is reduced, but measurement precision across wide frequency range deteriorates
Solution Approach 1:
The patent implements a dynamic image processing approach that adapts to different rotational frequencies. The system uses template matching with adjustable parameters, dynamic feature point detection, and frequency-adaptive calculation algorithms that optimize performance across the entire frequency range. This dynamic adaptation allows the simple monocular vision system to maintain high measurement precision whether the rotary motion generating device rotates slowly or rapidly.
Data Source
AI summary
A method for measuring angular velocity and angular acceleration based on monocular vision. Firstly, a movement sequence image of a feature mark fixed on a working table of a rotary motion generating device is acquired via an acquisition and imaging device. Secondly, a region of interest on the movement sequence image of the feature mark under different shooting distances and rotating conditions is determined by cyclic matching between a set of circular templates and the movement sequence image of the feature mark. Then, a sub-pixel of feature line edges in the region of interest is extracted using a line segment detection method, and only the feature line edges in a motion direction are retained through a constraint of the number of edge points. Finally, the angular velocity and angular acceleration are calculated by using the extracted feature line edges in the motion direction.