CN114543972B - Rotating shaft three-dimensional vibration displacement measuring device and method based on area-array camera - Google Patents

Abstract

The present invention relates to a three-dimensional vibration displacement measurement device and method of a rotating shaft based on an area array camera. The device includes: a rotating shaft system, used for installing the rotating shaft and driving the rotating shaft to rotate; Image acquisition, and transmit the collected image sequence of the end surface profile of the rotating shaft to the computer; the computer is connected to the area array camera through a data line, and is used to control the area array camera, including the frame rate and quantity of sampling, and the data transmitted to the computer. The end surface profile feature image sequence of the rotating shaft is processed; the computer is provided with a data processing module for processing the end face profile feature image sequence of the rotating shaft to obtain the three-dimensional vibration information of the rotating shaft. The device and method are conducive to improving the measurement efficiency, and the device is simple and the realization cost is low.

Description

A device and method for measuring three-dimensional vibration displacement of a rotating shaft based on an area array camera

technical field

The invention belongs to the field of machine vision measurement, and in particular relates to a device and method for measuring three-dimensional vibration displacement of a rotating shaft based on an area array camera.

Background technique

The rotating shaft is an important part of all kinds of rotating machinery. During the operation of the machine, the vibration monitoring and health monitoring of the rotating shaft is of great significance to the entire rotating machinery structure. As for the rotating shaft, its fault characteristics often show the movement of the shaft system, which causes the three-dimensional vibration displacement of the rotating shaft. Therefore, the research on the three-dimensional displacement detection of the rotating shaft of rotating machinery has very important practical significance. Most of the traditional shaft vibration displacement measurement methods use acceleration sensors, eddy current sensors, etc. However, when the measured object is small in size and light in weight, using an acceleration sensor will introduce additional mass, which will affect the modal effect of the object’s vibration However, most current sampling eddy current sensors can only measure the two-dimensional information of the rotating shaft when measuring the vibration displacement of the rotating shaft. If it is necessary to measure the three-dimensional vibration information of the rotating shaft, most researchers use a certain Structural features are used to obtain three-dimensional vibration information of the detected rotation, but this method is obviously difficult to realize for some rotating shaft systems that are inconvenient to increase the structure. At the same time, most of the above methods need to arrange multiple sensors at different spatial positions of the rotating shaft to collect signals. Therefore, the traditional contact measurement method has great limitations.

In recent years, for the fault diagnosis of rotating machinery, many researchers have proposed to introduce the method of fault diagnosis of rotating machinery based on machine vision measurement, that is, the method of machine vision. Compared with the traditional measurement method, the measurement method based on machine vision can carry out non-contact measurement, which is suitable for diagnosis in complex mechanical structure, high temperature and high pressure working environment.

Machine vision measurement technology continues to develop and improve, among which the two-dimensional image sensor has developed rapidly in terms of imaging accuracy, speed and digital image processing technology. Relevant researchers have proposed a variety of non-contact vibration measurement technologies based on machine vision for structural inspection. dynamic measurement. This type of method attaches different target patterns to the surface of the measured structure, and uses a camera to continuously image the target patterns, and then uses different image processing techniques to extract the dynamic information of the structure. However, most of the above measurement technologies mainly use the monocular vision measurement system to realize the two-dimensional vibration displacement measurement of the structure along the plane perpendicular to the imaging optical axis, and cannot realize the measurement of the displacement of the structural imaging optical axis.

Based on the above limitations, relevant researchers adopted non-interferential single-density position-sensing fringes similar to two-dimensional interferometric position-sensing fringes as the characteristic target pattern in the monocular vision measurement system, and achieved displacement along the imaging optical axis and perpendicular to Simultaneous measurement of two-dimensional displacement in the direction of imaging optical axis. The single-density position-sensing stripes are further applied to rotating machinery. However, the current machine vision method using position-sensing stripes to measure the vibration information of rotating machinery is usually to install position-sensing stripes on the surface of the shaft of the rotating machinery, but its limitations lie in some applications, such as gearbox structures, large-scale rotating machinery Because the rotating shaft system is inside the mechanical structure, only its end face is partially exposed. Therefore, the structural characteristics of these rotating machines do not allow the sensor to be directly installed on the surface of the shaft and the above-mentioned position-sensing stripes to be pasted. The measurement range and occasional inconvenience.

Contents of the invention

The object of the present invention is to provide a three-dimensional vibration displacement measurement device and method based on an area array camera, which is conducive to improving the measurement efficiency, and the device is simple and the implementation cost is low.

In order to achieve the above object, the technical solution adopted by the present invention is: a three-dimensional vibration displacement measurement device of a rotating shaft based on an area array camera, comprising:

The shaft system is used to install the shaft and drive the shaft to rotate;

an area array camera, configured to continuously collect images of the contour features of the end face of the rotating shaft, and transmit the acquired image sequence of the contour features of the end face of the rotating shaft to a computer; and

The computer is connected with the area array camera through the data line, and is used to control the area array camera, including the frame rate and quantity of sampling, and processing the characteristic image sequence of the end face profile of the rotating shaft transmitted to the computer; the computer is equipped with data processing The module is used to process the profile feature image sequence of the end surface of the rotating shaft to obtain the three-dimensional vibration information of the rotating shaft.

Further, the rotating shaft system includes a bearing and a bearing seat supporting the rotating shaft to rotate, and a driving motor driving the rotating shaft to rotate.

Further, the area array camera includes a camera lens, an imaging sensor, and a sensing circuit, and the frame rate of the area array camera is adjusted according to the rotation speed of the rotating shaft, so as to make the image imaging clear and complete.

Further, the area array camera performs continuous imaging on the end face of the rotating shaft, and transmits the captured characteristic image of the end face of the rotating shaft to the computer; when the area array camera performs continuous imaging on the end face of the rotating shaft, the plane where the end face of the rotating shaft is located is parallel to the camera lens , and make the end face of the rotating shaft in the central area of the imaging sensor.

Further, the data processing module in the computer obtains the contour signal of the edge of the rotating shaft, and performs circle fitting on the obtained contour signal of the rotating shaft edge to obtain the contour circle information of the end face of the rotating shaft, including the contour circle radius and center coordinate information of the end face of the rotating shaft ; The identified coordinates of the center of the contour circle are used to locate the displacement information in the horizontal and vertical directions of the image, that is, by locating the changes in the horizontal and vertical coordinates of the center of the corresponding contour circle in each frame of image, and then obtain the horizontal and vertical axis of rotation The vibration displacement information in the vertical direction; the radius value of the contour circle in each frame of image changes with the vibration of the rotation axis along the imaging optical axis, and the vibration displacement information of the rotation axis along the imaging optical axis is obtained by calculating the change of the radius value.

The present invention also provides a method for measuring the three-dimensional vibration displacement of a rotating shaft based on an area array camera, comprising the following steps:

Step S1: Adjust the pose of the area array camera so that the camera lens is parallel to the plane where the end face of the rotating shaft is located, so that the end face of the rotating shaft is clearly and completely in the imaging sensor of the area array camera;

Step S2: Continuously image the end surface of the rotating shaft with an area array camera. With the vibration of the rotating shaft, the acquired end surface pattern of the rotating shaft on the imaging sensor also vibrates accordingly, and the vibration signal represented by the contour circle also changes accordingly;

Step S3: Transmitting a series of profile feature images of the end surface of the rotating shaft obtained by the continuous shooting of the area array camera to the computer;

Step S4: The data processing module in the computer processes the profile feature image sequence of the end surface of the rotating shaft to obtain three-dimensional vibration displacement information of the rotating shaft in the horizontal direction, vertical direction and along the imaging optical axis, ie X, Y and Z directions.

Further, the method of obtaining the vibration information of the rotating shaft along the horizontal direction and the vertical direction, that is, the X and Y directions is as follows:

Step A1: Select the image of the end face of the rotating shaft captured in the first frame as a reference frame, and fit the contour circle of the end face of the rotating shaft, so as to obtain the center coordinates and radius information corresponding to the contour circle of the end face of the rotating shaft;

Step A2: Repeat step A1 to calculate the exact values of the center coordinates and radius of the outline circle in each frame of the end face image of the rotating shaft;

Step A3: Calculate the change value of the abscissa of the center abscissa of the contour circle of the end surface of the rotating shaft in each frame relative to the abscissa of the center abscissa of the contour circle of the end surface of the rotating shaft in the reference frame, and then obtain the vibration displacement information in the horizontal direction of the rotating shaft according to the imaging ratio of the system;

Step A4: Calculate the change value of the vertical coordinate of the center of the contour circle of the end surface of the rotating shaft in each frame relative to the vertical coordinate of the center of the contour circle of the end surface of the rotating shaft in the reference frame, and then obtain the vibration displacement information in the vertical direction of the rotating shaft according to the imaging ratio of the system.

Further, the calculation formula for the displacement of the rotating shaft along the horizontal direction is:

Among them, Δ x ( t ) is the horizontal displacement of the t -th frame of the rotating shaft, a _x is the change value of the abscissa of the center of the contour circle of the end face of the rotating shaft at time t relative to the abscissa of the center of the contour circle of the reference frame, and D is the initial object distance , F is the focal length of the camera; R ( t ) and R (0) are the radius values of the contour circles of frame t and reference frame respectively;

The formula for calculating the displacement of the rotating shaft along the vertical direction is:

Among them, Δ y ( t ) is the vertical displacement of the t -th frame of the rotating shaft, and a _y is the change value of the center ordinate of the contour circle of the end surface of the rotating shaft at time t relative to the center ordinate of the reference frame contour circle.

Further, the acquisition method of the vibration information along the direction of the imaging optical axis, that is, the Z direction, is as follows:

Step B1: According to the radius value of the contour circle in the end face image of the rotating shaft obtained in step A1, use the radius value obtained from the first frame image as the reference radius;

Step B2: Repeat step B1 to calculate the exact values of the center coordinates and radius of the contour circle in each frame of the end face image of the rotating shaft;

Step B3: With the displacement of the rotating shaft along the direction of the optical axis, the obtained value of the radius value of the contour circle on the end surface of the rotating shaft changes, and the change information of the radius value of the contour circle in each frame of image is calculated to obtain the vibration displacement of the rotating shaft along the direction of the imaging optical axis information.

Further, the formula for calculating the displacement of the rotating shaft along the direction of the imaging optical axis is:

Among them, Δ z ( t ) is the displacement of the rotation axis frame t along the imaging optical axis, R ( t ) and R (0) are the radius values of the outline circles of the t -th frame and the reference frame, respectively, and D is the initial object distance.

Compared with the prior art, the present invention has the following beneficial effects: A device and method for measuring the three-dimensional vibration displacement of a rotating shaft based on an area array camera is proposed. The device and method only need to use the area array camera to continuously image the end face of the rotating shaft and The characteristic image is collected and processed, that is, the measurement of the three-dimensional vibration of the rotating shaft can be realized. Compared with the existing measuring method, the device and the method not only reduce the hardware cost, but also reduce the amount of collected data, make the vibration signal extraction faster and more efficient, and improve the efficiency of the vibration measurement. Therefore, the present invention has strong practicability and wide application prospect.

Description of drawings

Fig. 1 is a schematic diagram of the device structure of the embodiment of the present invention.

Fig. 2 is a flow chart of image processing of the profile feature image of the end surface of the rotating shaft in the embodiment of the present invention. Among them, (a) is the end surface view of the rotating shaft to be tested, (b) is the acquired edge image, and (c) is the recognized contour circle of the end surface of the rotating shaft.

Fig. 3 is a principle diagram of X-direction displacement measurement and imaging in an embodiment of the present invention.

Fig. 4 is a schematic diagram of the imaging principle of displacement measurement in the Y direction in the embodiment of the present invention.

Fig. 5 is a principle diagram of Z-direction displacement measurement and imaging in an embodiment of the present invention.

Fig. 6 is a conversion relationship diagram between the displacement in the Z direction and the real displacement in the embodiment of the present invention.

In the figure, 1-drive motor, 2-left bearing support, 3-revolving shaft, 4-right bearing support, 5-end face of rotating shaft, 6-area array camera, 7-data cable, 8-computer, 61-camera lens , 62-imaging sensor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

As shown in FIG. 1 , this embodiment provides a three-dimensional vibration displacement measurement device for a rotating shaft based on an area array camera, which includes a rotating shaft system, an area array camera 6 and a computer 8 .

The rotating shaft system is used for installing the rotating shaft 3 and driving the rotating shaft to rotate. In this embodiment, the rotating shaft system includes bearings and bearing seats 2 and 4 that support the rotating shaft 3 to rotate, and a drive motor 1 that drives the rotating shaft 3 to rotate.

The area array camera 6 is used for continuous image acquisition of the contour features of the end face of the rotating shaft 5 , and transmits the acquired image sequence of the contour features of the end face of the rotating shaft to the computer 8 .

In this embodiment, the area array camera 6 includes a camera lens 61 , an imaging sensor 62 , and sensing lines, etc., and the frame rate of the area array camera 6 is adjusted according to the rotation speed of the rotating shaft to make the image clear and complete. The area array camera 6 performs continuous imaging on the end face of the rotating shaft, and transmits the obtained characteristic image of the end face of the rotating shaft to the computer; In the central area of the imaging sensor.

The computer 8 is connected to the area scan camera 6 through the data line 7, and is used to control the area scan camera 6, including sampling frame rate, quantity, etc., and to process the image sequence of the end face profile of the rotating shaft transmitted to the computer 8. The computer is provided with a data processing module, which is used to process the profile feature image sequence of the end surface of the rotating shaft to obtain the three-dimensional vibration information of the rotating shaft.

The collected vibration signal of the end face of the rotating shaft is composed of the contour signal of the edge of the rotating shaft. The data processing module in the computer obtains the contour signal of the edge of the rotating shaft, and performs circle fitting on the obtained contour signal of the rotating shaft edge, and obtains the contour circle information of the end face of the rotating shaft, including the contour circle radius and the center coordinate information of the end face of the rotating shaft; the identified contour The coordinates of the center of the circle are used to locate the displacement information in the horizontal and vertical directions of the image, that is, by locating the changes in the horizontal and vertical coordinates of the center of the corresponding contour circle in each frame of image, and then obtain the vibration displacement in the horizontal and vertical directions of the rotating shaft Information; the radius value of the contour circle in each frame of image changes with the vibration of the rotating shaft along the direction of the imaging optical axis, and the vibration displacement information of the rotating shaft along the direction of the imaging optical axis is obtained by calculating the change of the radius value.

Fig. 2 is a flow chart of image processing of the contour feature image of the end face of the rotating shaft in this embodiment. As shown in Figure 2, Figure 2(a) is the end view of the rotating shaft to be tested; Figure 2(b) is the contour circle information obtained after the edge detection of the end face of the rotating shaft through the data processing module; Figure 2(c) is the The contour circle of the end face of the shaft is fitted by the contour circle data of the end face of the shaft. After obtaining the center coordinates and radius values of the contour circle, the horizontal and vertical displacement signals of the rotating shaft 3 can be obtained by locating the changes in the horizontal and vertical coordinate values of the center coordinates of the contour circle, and the change information of the radius value can be used Vibration displacement information of the rotating shaft 3 along the optical axis direction is obtained.

This embodiment also provides a method for measuring the three-dimensional vibration displacement of the rotating shaft based on the above device, including the following steps:

Step S1: Adjust the pose of the area array camera so that the camera lens is parallel to the plane where the end face of the rotating shaft is located, so that the end face of the rotating shaft is clearly and completely in the imaging sensor of the area array camera;

Step S2: Continuously image the end surface of the rotating shaft with an area array camera. With the vibration of the rotating shaft, the acquired end surface pattern of the rotating shaft on the imaging sensor also vibrates accordingly, and the vibration signal represented by the contour circle also changes accordingly;

Step S3: Transmitting a series of profile feature images of the end surface of the rotating shaft obtained by the continuous shooting of the area array camera to the computer;

Step S4: The data processing module in the computer processes the profile feature image sequence of the end surface of the rotating shaft to obtain three-dimensional vibration displacement information of the rotating shaft in the horizontal direction, vertical direction and along the imaging optical axis, ie X, Y and Z directions.

Based on the imaging principle shown in Figures 3 and 4, the method of obtaining the vibration information along the horizontal and vertical directions of the rotation axis, that is, the X and Y directions is as follows:

Step A1: Select the image of the end face of the rotating shaft captured in the first frame as a reference frame, and fit the contour circle of the end face of the rotating shaft, so as to obtain the center coordinates and radius information corresponding to the contour circle of the end face of the rotating shaft;

Step A2: Repeat step A1 to calculate the exact values of the center coordinates and radius of the outline circle in each frame of the end face image of the rotating shaft;

Step A3: Calculate the change value of the abscissa of the center abscissa of the contour circle of the end surface of the rotating shaft in each frame relative to the abscissa of the center abscissa of the contour circle of the end surface of the rotating shaft in the reference frame, and then obtain the vibration displacement information in the horizontal direction of the rotating shaft according to the imaging ratio of the system;

Step A4: Calculate the change value of the vertical coordinate of the center of the contour circle of the end surface of the rotating shaft in each frame relative to the vertical coordinate of the center of the contour circle of the end surface of the rotating shaft in the reference frame, and then obtain the vibration displacement information in the vertical direction of the rotating shaft according to the imaging ratio of the system.

The formula for calculating the displacement of the rotating shaft along the horizontal direction is:

Among them, Δ x ( t ) is the horizontal displacement of the t -th frame of the rotating shaft, a _x is the change value of the abscissa of the center of the contour circle of the end face of the rotating shaft at time t relative to the abscissa of the center of the contour circle of the reference frame, and D is the initial object distance , F is the focal length of the camera; R ( t ) and R (0) are the radius values of the contour circles of frame t and reference frame, respectively.

The formula for calculating the displacement of the rotating shaft along the vertical direction is:

Among them, Δ y ( t ) is the vertical displacement of the t -th frame of the rotating shaft, and a _y is the change value of the center ordinate of the contour circle of the end surface of the rotating shaft at time t relative to the center ordinate of the reference frame contour circle.

Based on the imaging principle shown in Figure 5, the method for obtaining the vibration information along the direction of the imaging optical axis, that is, the Z direction, is as follows:

Step B1: According to the radius value of the contour circle in the end face image of the rotating shaft obtained in step A1, use the radius value obtained from the first frame image as the reference radius;

Step B2: Repeat step B1 to calculate the exact values of the center coordinates and radius of the contour circle in each frame of the end face image of the rotating shaft;

Step B3: With the displacement of the rotating shaft along the direction of the optical axis, the obtained value of the radius value of the contour circle on the end surface of the rotating shaft changes, and the change information of the radius value of the contour circle in each frame of image is calculated to obtain the vibration displacement of the rotating shaft along the direction of the imaging optical axis information. The conversion relationship between the displacement in the Z direction and the real displacement in this embodiment is shown in FIG. 6 .

The formula for calculating the displacement of the rotating shaft along the direction of the imaging optical axis is:

Among them, Δ z ( t ) is the displacement of the rotation axis frame t along the imaging optical axis, R ( t ) and R (0) are the radius values of the outline circles of the t -th frame and the reference frame, respectively, and D is the initial object distance.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (4)

1. A rotating shaft three-dimensional vibration displacement measurement device based on an area array camera, characterized in that it comprises: The shaft system is used to install the shaft and drive the shaft to rotate; an area array camera, configured to continuously collect images of the contour features of the end face of the rotating shaft, and transmit the acquired image sequence of the contour features of the end face of the rotating shaft to a computer; and The computer is connected with the area array camera through the data line, and is used to control the area array camera, including the frame rate and quantity of sampling, and processing the characteristic image sequence of the end face profile of the rotating shaft transmitted to the computer; the computer is equipped with data processing The module is used to process the profile feature image sequence of the end surface of the rotating shaft to obtain the three-dimensional vibration information of the rotating shaft; The data processing module in the computer obtains the contour signal of the edge of the rotating shaft, and performs circle fitting on the obtained contour signal of the rotating shaft edge, and obtains the contour circle information of the end face of the rotating shaft, including the contour circle radius and the center coordinate information of the end face of the rotating shaft; The coordinates of the center of the contour circle are used to locate the displacement information in the horizontal and vertical directions of the image, that is, by locating the changes in the horizontal and vertical coordinates of the center of the corresponding contour circle in each frame of image, and then obtain the horizontal and vertical directions of the rotation axis Vibration displacement information; the radius value of the contour circle in each frame of image changes with the vibration of the rotating shaft along the imaging optical axis, and the vibration displacement information of the rotating shaft along the imaging optical axis is obtained by calculating the change of the radius value; The method for measuring the three-dimensional vibration displacement of the rotating shaft based on the three-dimensional vibration displacement measuring device of the rotating shaft comprises the following steps: Step S1: Adjust the pose of the area array camera so that the camera lens is parallel to the plane where the end face of the rotating shaft is located, so that the end face of the rotating shaft is clearly and completely in the imaging sensor of the area array camera; Step S2: Continuously image the end face of the rotating shaft with an area array camera. With the vibration of the rotating shaft, the pattern of the end face of the rotating shaft acquired on the imaging sensor will also vibrate accordingly, and the vibration signal represented by the contour circle will also change accordingly; Step S3: Transmitting a series of profile feature images of the end surface of the rotating shaft obtained by the continuous shooting of the area array camera to the computer; Step S4: The data processing module in the computer processes the profile feature image sequence of the end surface of the rotating shaft, and obtains the three-dimensional vibration displacement information of the rotating shaft in the horizontal direction, the vertical direction and along the imaging optical axis, that is, the three directions of X, Y, and Z; The method of obtaining the vibration information along the horizontal direction and the vertical direction of the rotating shaft, that is, the X and Y directions is as follows: Step A1: Select the image of the end face of the rotating shaft captured in the first frame as a reference frame, and fit the contour circle of the end face of the rotating shaft, so as to obtain the center coordinates and radius information corresponding to the contour circle of the end face of the rotating shaft; Step A2: Repeat step A1 to calculate the exact values of the center coordinates and radius of the outline circle in each frame of the end face image of the rotating shaft; Step A3: Calculate the change value of the abscissa of the center abscissa of the contour circle of the end surface of the rotating shaft in each frame relative to the abscissa of the center abscissa of the contour circle of the end surface of the rotating shaft in the reference frame, and then obtain the vibration displacement information in the horizontal direction of the rotating shaft according to the imaging ratio of the system; Step A4: Calculate the change value of the vertical coordinate of the center of the contour circle of the end surface of the rotating shaft in each frame relative to the vertical coordinate of the center of the contour circle of the end surface of the rotating shaft in the reference frame, and then obtain the vibration displacement information in the vertical direction of the rotating shaft according to the imaging ratio of the system; The formula for calculating the displacement of the rotating shaft along the horizontal direction is:

Among them, Δ x ( t ) is the horizontal displacement of the t -th frame of the rotating shaft, a _x is the change value of the abscissa of the center of the contour circle of the end face of the rotating shaft at time t relative to the abscissa of the center of the contour circle of the reference frame, and D is the initial object distance , F is the focal length of the camera; R ( t ) and R (0) are the radius values of the outline circles of frame t and reference frame respectively; The formula for calculating the displacement of the rotating shaft along the vertical direction is:

Wherein, Δ y ( t ) is the vertical displacement of the t -th frame of the rotating shaft, and a _y is the change value of the center ordinate of the contour circle of the end surface of the rotating shaft at time t relative to the center ordinate of the contour circle of the reference frame; The method of obtaining the vibration information along the direction of the imaging optical axis, that is, the Z direction, is as follows: Step B1: According to the radius value of the contour circle in the end face image of the rotating shaft obtained in step A1, use the radius value obtained from the first frame image as the reference radius; Step B2: Repeat step B1 to calculate the exact values of the center coordinates and radius of the contour circle in each frame of the end face image of the rotating shaft; Step B3: With the displacement of the rotating shaft along the direction of the optical axis, the obtained value of the radius value of the contour circle on the end surface of the rotating shaft changes, and the change information of the radius value of the contour circle in each frame of image is calculated to obtain the vibration displacement of the rotating shaft along the direction of the imaging optical axis information; The formula for calculating the displacement of the rotating shaft along the direction of the imaging optical axis is:

Among them, Δ z ( t ) is the displacement of the t -th frame of the rotating shaft along the imaging optical axis, R ( t ) and R (0) are the radius values of the contour circles of the t -th frame and the reference frame, respectively, and D is the initial object distance. 2 . The three-dimensional vibration displacement measurement device for a rotating shaft based on an area array camera according to claim 1 , wherein the rotating shaft system includes a bearing and a bearing housing supporting the rotating shaft, and a drive motor driving the rotating shaft to rotate. 3 . 3. A kind of rotating shaft three-dimensional vibration displacement measuring device based on an area array camera according to claim 1, characterized in that, the area array camera comprises a camera lens, an imaging sensor and a sensing circuit, and the frame of the area array camera The rate is adjusted according to the rotation speed of the shaft to make the image clear and complete. 4. A three-dimensional vibration displacement measurement device for a rotating shaft based on an area array camera according to claim 3, wherein the area array camera performs continuous imaging on the end face of the rotating shaft, and transmits the captured image of the end face of the rotating shaft to computer; when the area array camera performs continuous imaging on the end face of the rotating shaft, the plane where the end face of the rotating shaft is located is parallel to the camera lens, and the end face of the rotating shaft is located in the central area of the imaging sensor.

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