Dynamic attitude measurement taken by monocular line scan vision

Qing Wang; Guohua Zhang

doi:10.1364/AO.474983

Applied Optics
Vol. 62,
Issue 5,
pp. 1130-1135
(2023)
•https://doi.org/10.1364/AO.474983

Dynamic attitude measurement taken by monocular line scan vision

Qing Wang and Guohua Zhang

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Qing Wang and Guohua Zhang, "Dynamic attitude measurement taken by monocular line scan vision," Appl. Opt. 62, 1130-1135 (2023)

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Abstract

Attitude measurements are important parameters for condition monitoring of precision machines. We develop an angle measurement method based on monocular line scan vision to dynamically measure the attitude of shafts. The proposed measurement system, which consists of a single line scan camera, a parallel laser light source, and a triangular mirror, does not require fixation of a sensor on the shaft. The measurement system uses the line scan camera to capture the projection of the shaft. The light source is diffused by a cylindrical lens to yield parallel directional light. Then the parallel directional light is reflected by a fixed-angle mirror and projected onto the projection plane. The captured image can be considered a discrete time sequence. The attitude measurement principle based on linear monocular vision is derived. A double light-spot centroid algorithm is developed to obtain the centroid coordinates of the projection points. The proposed method is investigated by a simulation and experiment. The proposed method can also monitor the vibration of the shaft. The experimental results prove that the proposed method is effective and highly accurate.

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Data availability

Data underlying the results presented in this paper are not publicly available at this time but may be obtained from the authors upon reasonable request.

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Quadrant	$x^{i}$	$z^{i}$	$p_{x}^{i} - p_{x}^{0}$	$p_{z}^{i} - p_{z}^{0}$
I	$> 0$	$> 0$	$> 0$	$< 0$
II	$< 0$	$> 0$	$< 0$	$< 0$
III	$< 0$	$< 0$	$< 0$	$> 0$
IV	$> 0$	$< 0$	$> 0$	$> 0$

Number		Proposed method		Platform		Relative error (%)
Attitude	Point	Pitch (rad)	Yaw (rad)	Pitch (rad)	Yaw (rad)	Pitch	Yaw
1	1	−0.0583	0.0584	−0.0576	0.0576	1.22	1.39
	2	0.0777	0.0590	0.0768	0.0576	1.17	2.26
	3	0.0775	−0.0780	0.0768	−0.0768	0.91	1.56
2	1	−0.0574	0.0588	−0.0576	0.0576	0.35	1.91
	2	0.0776	0.0591	0.0768	0.0576	1.04	2.26
	3	0.0773	−0.0775	0.0768	−0.0768	0.65	0.91
3	1	−0.0577	0.0588	−0.0576	0.0576	0.17	1.91
	2	0.0772	0.0585	0.0768	0.0576	0.52	1.56
	3	0.0771	−0.0778	0.0768	−0.0768	0.39	1.30

Quadrant	$x^{i}$	$z^{i}$	$p_{x}^{i} - p_{x}^{0}$	$p_{z}^{i} - p_{z}^{0}$
I	$> 0$	$> 0$	$> 0$	$< 0$
II	$< 0$	$> 0$	$< 0$	$< 0$
III	$< 0$	$< 0$	$< 0$	$> 0$
IV	$> 0$	$< 0$	$> 0$	$> 0$

Number		Proposed method		Platform		Relative error (%)
Attitude	Point	Pitch (rad)	Yaw (rad)	Pitch (rad)	Yaw (rad)	Pitch	Yaw
1	1	−0.0583	0.0584	−0.0576	0.0576	1.22	1.39
	2	0.0777	0.0590	0.0768	0.0576	1.17	2.26
	3	0.0775	−0.0780	0.0768	−0.0768	0.91	1.56
2	1	−0.0574	0.0588	−0.0576	0.0576	0.35	1.91
	2	0.0776	0.0591	0.0768	0.0576	1.04	2.26
	3	0.0773	−0.0775	0.0768	−0.0768	0.65	0.91
3	1	−0.0577	0.0588	−0.0576	0.0576	0.17	1.91
	2	0.0772	0.0585	0.0768	0.0576	0.52	1.56
	3	0.0771	−0.0778	0.0768	−0.0768	0.39	1.30

Abstract

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Equations (12)

Applied Optics