基于PC机的蒸发液滴图像反馈控制系统
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摘要
空间流体实验具有无人操作的特殊性,需要对监控图像进行实时处理,得到观察对象的特性参数(例如体积、表面积等),再通过控制系统控制观察对象的特性。本课题研究了利用CCD捕捉到的液滴灰度图像,分析求取液滴的表面张力、接触角、体积等物理参数的方法;同时通过反馈控制系统,维持液滴的大小,从而求取液滴的蒸发速率。
该系统主要由图像采集,图像处理,反馈控制三个部分组成。其工作原理是对CCD采集到的液滴图像进行分析,得到液滴的物性参数,控制注液器动态注入来维持液滴的大小,由此得到单位时间内的注入量,也即液滴蒸发速率。或通过对液滴图像几何尺寸的计算,得到单位时间内液滴的变化量,进而得到液滴的蒸发速率。
针对液滴的灰度图像,利用边界提取、域值分割等图像处理方法,得到液滴的基本轮廓。建立基于液面像素点坐标的拉普拉斯方程,运用牛顿-拉夫逊法、龙格-库塔法、坐标轮换法,遗传算法等多种数值方法,对液滴的边界进行拟合,寻求最优的轮廓拟合点。根据最优的拟合点,确定液滴的物理参数。选取了牛顿法和一维寻优相结合的算法进行轮廓拟合的,并和Rotenberg等人提出的算法进行了比较,证明了该方法收敛速度较快,拟合精度较高的特点。该方法是实现空间蒸发液滴热毛细对流和接触角测量实验的一项关键技术,也是直接为我国“实践十号”返回式科学实验卫星上的“蒸发与流体界面效应空间实验研究”项目而专门开发的,同时也可以运用到非接触测量的实验场合。
The liquid experiment in space needs intelligence to deal with the surveillance image right away to obtain the characteristics of object. A method is investigated to analyze the physical feature of a drop, such as surface tension, contact angle volume and evaporation velocity through fitting contour of the drop picture.
The system is constituted of 3 parts: image acquisition, image processing, and feedback control. Analyzing drop pictures from the CCD camera, the physical features of the drop could be obtained, and evaporating volume could be calculated from the geometry differences between two pictures. To maintain the drop volume, drive the injector to inject dynamically. The evaporation velocity could be calculated by the evaporating volume during unit time.
From the grey picture, generally contour of a drop is obtained by Edge detection and Segmentation algorithms. Constructed the Laplace equation of the drop, made contour approach process through comparing and using Newton-Raphson method, Runge-Kutta method,coordinate rotator method and GA. With the help of contour approach, physical feature of the drop is obtained. A new algorithm which nests Newton-Raphson method with One-dimensional optimization is presented. Compared with the original algorithm raised by Rotenberg, the new one reached convergence quickly with high accuracy. It is a key technology of the special experimental system for liquid experiment in“SJ10”returns type satellite. The method is especially applicable for unmanned environment as well as non-contact measurement in the experiments.
该系统主要由图像采集,图像处理,反馈控制三个部分组成。其工作原理是对CCD采集到的液滴图像进行分析,得到液滴的物性参数,控制注液器动态注入来维持液滴的大小,由此得到单位时间内的注入量,也即液滴蒸发速率。或通过对液滴图像几何尺寸的计算,得到单位时间内液滴的变化量,进而得到液滴的蒸发速率。
针对液滴的灰度图像,利用边界提取、域值分割等图像处理方法,得到液滴的基本轮廓。建立基于液面像素点坐标的拉普拉斯方程,运用牛顿-拉夫逊法、龙格-库塔法、坐标轮换法,遗传算法等多种数值方法,对液滴的边界进行拟合,寻求最优的轮廓拟合点。根据最优的拟合点,确定液滴的物理参数。选取了牛顿法和一维寻优相结合的算法进行轮廓拟合的,并和Rotenberg等人提出的算法进行了比较,证明了该方法收敛速度较快,拟合精度较高的特点。该方法是实现空间蒸发液滴热毛细对流和接触角测量实验的一项关键技术,也是直接为我国“实践十号”返回式科学实验卫星上的“蒸发与流体界面效应空间实验研究”项目而专门开发的,同时也可以运用到非接触测量的实验场合。
The liquid experiment in space needs intelligence to deal with the surveillance image right away to obtain the characteristics of object. A method is investigated to analyze the physical feature of a drop, such as surface tension, contact angle volume and evaporation velocity through fitting contour of the drop picture.
The system is constituted of 3 parts: image acquisition, image processing, and feedback control. Analyzing drop pictures from the CCD camera, the physical features of the drop could be obtained, and evaporating volume could be calculated from the geometry differences between two pictures. To maintain the drop volume, drive the injector to inject dynamically. The evaporation velocity could be calculated by the evaporating volume during unit time.
From the grey picture, generally contour of a drop is obtained by Edge detection and Segmentation algorithms. Constructed the Laplace equation of the drop, made contour approach process through comparing and using Newton-Raphson method, Runge-Kutta method,coordinate rotator method and GA. With the help of contour approach, physical feature of the drop is obtained. A new algorithm which nests Newton-Raphson method with One-dimensional optimization is presented. Compared with the original algorithm raised by Rotenberg, the new one reached convergence quickly with high accuracy. It is a key technology of the special experimental system for liquid experiment in“SJ10”returns type satellite. The method is especially applicable for unmanned environment as well as non-contact measurement in the experiments.
引文
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[2] Xu Shiliang. Computer algorithm in common use. Beijing: Tsinghua University Press, 2005.
[3] Takehiro Dan, Kohmei Halada and Yuji Muramatsu .Characteristics of Image Data Processing Techniques for sessile Drop Method. J.Japan Inst, Metals, 1995. 59(8):846~850.
[4] 《数学手册》编写组.数学手册.北京:高等教育出版社.1979
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[6] Rafael C.Gonzalez Richard E.Woods.Digital Image Processing Second Edition. Beijing: Publishing House Of Electronics Industry. 2002
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[8] 马颂德等.计算机视觉-计算理论与算法基础.北京:科学出版社.2003
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[12] 余斯乐等.电视原理(第五版).北京:国防工业出版社.2000
[13] 张志涌.精通 MATLAB 6.5 版.北京:北京航空航天大学出版社.2003
[14] 赵训威等.基于 TMS320C6200 系列 DSP 芯片的应用与开发.北京:人民邮电出版社.2002
[15] D.Hanselman, B.Littlefield. Mastering Matlab6.Beijing:Tsinghua University Press.2002
[16] 张雄伟等.DSP 集成开发与应用实例.北京:电子工业出版社.2002
[17] David Simon.Visual C++6 编程宝典. Beijing: Publishing House Of Electronics Industry. 2005
[18] 苏光大.微机图象处理系统.北京:清华大学出版社.2000
[19] 严应政等.杨氏方程推导应用中的几个疑点及其他.西北建筑工程学院学报(自然科学版).2001,18(4):89～94.
[20] 王小平等.液膜气泡法测洗涤溶液的表面张力系数.物理实验 2005,25(11):
[21] 37～38.
[22] 张大洋等.滴体积法测定表面张力的快速计算.日用化学工业.2001,31(1):
[23] 49～56.
[24] 应启珩 数字信号处理器概述,清华大学,2004
[25] 冯静亚,于强,罗福山,张华伟.基于 GPRS 的电场数据传输方案.中国空间科学学会空间探测专业委员会第十九次学术会议论文集.2006.
[26] 孙良旭 基于 DSP 的实时图像数据采集系统设计 单片机及嵌入式系统应用 2005,3
[27] National SEMICONDUCTOR. LM2678 SIMPLE SWITCHER High Efficeency 5A Step-Down Voltage Regulator, April 2005
[28] Ren Guoqiang et al. High-speed CCD image sampling based on an embedded system. Opto-Electronic Engineering. 2004, 31(12):64~67.
[29] 陈卫兵 I2C 总线协议在 80C51 单片机上应用的实现 阜阳师范学院学报(自然科学版) 2002,9
[30] WAN Yu-wen,ZENG Xi-rui. The improvement on data processing method for experiment for experiment“determining of the solution’s surface tension”, Journal of Jinggangshan Normal College, Vol.24, No.5, Jun.2003
[31] YUE Bao-zeng, Numerical study of the three-dimensional free surface in cylindrical tank. Chinese Journal of Computational Mechanics. Vol.23, No.6, December 2006
[32] 刘刚, 向健勇 一种高速图像采集存储系统的设计 电子工程师 2006,5
[33] 冯静亚,于强,吕朝晖,罗福山.虚拟示波器的软件设计与应用.计算机工程与设计.2007.1
[34] FANG Yun, XIA Yong-mei.Amphoteric Surfactants(V) Biological Activities of Amphoteric Surfacts. China surfactant Detergent&Cosmetics. 2001,2
[2] Xu Shiliang. Computer algorithm in common use. Beijing: Tsinghua University Press, 2005.
[3] Takehiro Dan, Kohmei Halada and Yuji Muramatsu .Characteristics of Image Data Processing Techniques for sessile Drop Method. J.Japan Inst, Metals, 1995. 59(8):846~850.
[4] 《数学手册》编写组.数学手册.北京:高等教育出版社.1979
[5] YUAN Zhangfu, Mukai K, Takagi K, et al. Surface tension and its temperature coefficient of molten tin determined with the sessile drop method at different oxygen partial pressures [J]. Journal of Colloid and Interface Science, 2002, 254(2):338~345.
[6] Rafael C.Gonzalez Richard E.Woods.Digital Image Processing Second Edition. Beijing: Publishing House Of Electronics Industry. 2002
[7] 谭浩强等.C 程序设计(第二版).北京:清华大学出版社.1999
[8] 马颂德等.计算机视觉-计算理论与算法基础.北京:科学出版社.2003
[9] 刘海峰等 车牌定位在电子警察中的工程应用.电子技术应用.2001,8
[10] Thomas H.Cormen, Charles E.Leiserson,Ronald L.Rivest,Chifford Stein. Introduction to algorithms second edition. Beijing: China Machine Press, 2006.
[11] 李昭原等.数据库系统原理与技术.北京:北京航空航天大学出版社.1992
[12] 余斯乐等.电视原理(第五版).北京:国防工业出版社.2000
[13] 张志涌.精通 MATLAB 6.5 版.北京:北京航空航天大学出版社.2003
[14] 赵训威等.基于 TMS320C6200 系列 DSP 芯片的应用与开发.北京:人民邮电出版社.2002
[15] D.Hanselman, B.Littlefield. Mastering Matlab6.Beijing:Tsinghua University Press.2002
[16] 张雄伟等.DSP 集成开发与应用实例.北京:电子工业出版社.2002
[17] David Simon.Visual C++6 编程宝典. Beijing: Publishing House Of Electronics Industry. 2005
[18] 苏光大.微机图象处理系统.北京:清华大学出版社.2000
[19] 严应政等.杨氏方程推导应用中的几个疑点及其他.西北建筑工程学院学报(自然科学版).2001,18(4):89～94.
[20] 王小平等.液膜气泡法测洗涤溶液的表面张力系数.物理实验 2005,25(11):
[21] 37～38.
[22] 张大洋等.滴体积法测定表面张力的快速计算.日用化学工业.2001,31(1):
[23] 49～56.
[24] 应启珩 数字信号处理器概述,清华大学,2004
[25] 冯静亚,于强,罗福山,张华伟.基于 GPRS 的电场数据传输方案.中国空间科学学会空间探测专业委员会第十九次学术会议论文集.2006.
[26] 孙良旭 基于 DSP 的实时图像数据采集系统设计 单片机及嵌入式系统应用 2005,3
[27] National SEMICONDUCTOR. LM2678 SIMPLE SWITCHER High Efficeency 5A Step-Down Voltage Regulator, April 2005
[28] Ren Guoqiang et al. High-speed CCD image sampling based on an embedded system. Opto-Electronic Engineering. 2004, 31(12):64~67.
[29] 陈卫兵 I2C 总线协议在 80C51 单片机上应用的实现 阜阳师范学院学报(自然科学版) 2002,9
[30] WAN Yu-wen,ZENG Xi-rui. The improvement on data processing method for experiment for experiment“determining of the solution’s surface tension”, Journal of Jinggangshan Normal College, Vol.24, No.5, Jun.2003
[31] YUE Bao-zeng, Numerical study of the three-dimensional free surface in cylindrical tank. Chinese Journal of Computational Mechanics. Vol.23, No.6, December 2006
[32] 刘刚, 向健勇 一种高速图像采集存储系统的设计 电子工程师 2006,5
[33] 冯静亚,于强,吕朝晖,罗福山.虚拟示波器的软件设计与应用.计算机工程与设计.2007.1
[34] FANG Yun, XIA Yong-mei.Amphoteric Surfactants(V) Biological Activities of Amphoteric Surfacts. China surfactant Detergent&Cosmetics. 2001,2