CN108981719B - Ultra-high-speed flight model pose change measuring device and method - Google Patents
Ultra-high-speed flight model pose change measuring device and method Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
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Abstract
The invention relates to a measuring device and a measuring method for pose change of a super-high speed flight model, which are characterized in that in the super-high speed flight process of the model, a double-eye camera is utilized to shoot a double-current light image of the model with coding mark points, and a double-eye camera is adopted to perform single exposure and multiple-time flashing imaging on a light source during shooting, the model pose at the flashing moment of the light source can be obtained through extracting the coding mark points of a plurality of model positions in the double-current light image at a single moment and combining imaging parameters of the double-eye camera with the relation of the coding mark points, and the pose change condition of the model along with time can be obtained by combining the light emitting time sequence of a sequence light source module. The invention provides a measuring device and a measuring method for pose change of an ultra-high-speed flight model, which have the advantages of large measuring field of view, high measuring precision, simple imaging light path and the like, and can measure the pose change condition of the model without considering the association among a plurality of measuring stations.
Description
Technical Field
The invention relates to the field of pose change measurement, in particular to a device and a method for measuring pose change of an ultra-high-speed flight model.
Background
Currently, speed measurement methods for ultra-high speed flight models include a magnetic induction method, a sheet light shielding method, shadow imaging, an X-ray method and the like. However, the magnetic induction method requires a metal material for the model or a magnetic ring for increasing flying, and has high requirements on the material and emission of the model. The speed measurement principle of the sheet light shielding method is that when the model passes through the sheet light shielding part of light beams, the light flux passing through the model is reduced, so that the detection of particles is realized, and the measurement method has high precision but cannot obtain the posture of the model. The shadow imaging method is to judge the flight distance speed according to the positions of the models in the shadow images at different moments; the X-ray method is to calculate the model flying speed by using the flying distance of the model interpreted by the photographic film of the X-ray tube twice and combining the flash time of the two times. The shadow imaging method and the X-ray imaging method can obtain the gesture of the model, but the module is complex, the cost is high, and the measurement field of view is small.
Disclosure of Invention
The invention aims to provide a pose change measuring device and method for an ultra-high speed flight model, which solve the problems of high difficulty, low precision and high cost of pose measurement of ultra-high speed flight of a complex appearance model, acquire three-dimensional information of the model surface from a two-dimensional visual image, and acquire pose change of the model.
In order to achieve the above object, the present invention provides a device for measuring pose change of a super-high speed flight model, comprising:
the sequence light source module is used for generating sequence pulse light beams and irradiating a model to be measured, and the surface of the model is provided with coding mark points;
the front light imaging module comprises a binocular camera, the binocular camera is used for continuously shooting double current light images of the model at a plurality of light emitting moments in one exposure time, and the plurality of light emitting moments of the sequence light source module are moments for measuring a plurality of pose of the model;
the control module is connected with the sequential light source module and the front light imaging module and used for controlling sequential pulse light beam light emission and binocular camera exposure;
the data processing module is used for calculating the pose change of the model according to the double current light images obtained at a plurality of light emitting moments.
Preferably, the front light imaging module further comprises a light absorbing medium layer arranged in the field of view of the binocular camera on a side of the model remote from the binocular camera.
Preferably, the light absorbing medium layer is black cloth or black paint.
Preferably, the data processing module is used for extracting at least three coding mark points which can be identified simultaneously from a double current light image at a single light emitting moment, and calculating the model pose at the moment according to imaging parameters calibrated in advance; and according to the light irradiation time sequence of the plurality of sequence pulse light beams and the corresponding model pose at each moment, calculating the pose change of the model.
Preferably, the sequential light source module adopts a pulse laser to generate sequential pulse light beams; the pulse laser is used for generating a laser pulse beam, and irradiating the model after beam expansion and homogenization.
The invention also provides a method for measuring the pose change of the ultra-high speed flight model, which adopts the device for measuring the pose change of the ultra-high speed flight model according to any one of the above steps, and specifically comprises the following steps:
s1, generating a sequence pulse beam by using a sequence light source module, and irradiating a model to be measured by light from a plurality of times; continuously shooting double current light images of the model at a plurality of light emitting moments within one exposure time by using a binocular camera;
s2, according to the double current light images obtained at a plurality of light emitting moments, calculating to obtain the pose change of the model.
Preferably, before the step S1, a coding mark point is made on the surface of the model to obtain the position of the mass center of the model, a spatial position relationship between the coding mark points on the surface of the model is established through three-dimensional scanning, and the coding mark point is converted into the coordinate system of the mass center of the model to obtain the position coordinates of each coding mark point.
Preferably, before the step S1, calibrating the binocular camera to calibrate imaging parameters of the binocular camera so as to solve the relationship between the image and the spatial position; the calibration adopts at least one calibration plate, and the position relation between the inner points of each calibration plate is known.
Preferably, the step S2 includes:
s2-1, calculating the spatial positions of coding mark points according to at least three coding mark points which can be identified simultaneously in a double current light image at a single light emitting moment and by combining imaging parameters of a binocular camera, so as to obtain a model pose at the moment;
s2-2, according to the light irradiation time sequence of the plurality of sequence pulse light beams and the corresponding model pose at each moment, calculating the pose change of the model.
The technical scheme of the invention has the following advantages: the invention provides a measuring device and a measuring method for pose change of a super-high speed flight model, wherein in the super-high speed flight process of the model, a double-eye camera is utilized to shoot a double-current light image of the model with coding mark points, single exposure and multiple flashing imaging of a light source are adopted during shooting, multiple flashing moments of the light source are moments of measuring multiple poses of the model, the coding mark points of multiple model positions in the double-current light image in a single moment are extracted, the relation between imaging parameters of the double-eye camera and the coding mark points is combined, the model pose of the flashing moment of the light source can be obtained by resolving, the processing and pose resolving methods of the double-current light image corresponding to different moments are the same, and the pose change situation of the model can be obtained by combining the light emitting time sequence of a sequence light source module. The invention provides a measuring device and a measuring method for pose change of an ultra-high-speed flight model, which have the advantages of large measuring field of view, high measuring precision, simple imaging light path and the like, and can measure the pose change condition of the model without considering the association among a plurality of measuring stations.
Drawings
FIG. 1 is a schematic view of a pose change measuring device (part of a model) of ultra-high speed flight in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a model with coded marker points according to a first embodiment of the present invention;
FIG. 3 is a schematic view of a calibration plate according to a first embodiment of the present invention;
FIG. 4 is a diagram illustrating the principle of binocular vision positioning in accordance with the first embodiment of the present invention;
FIG. 5 is a model image obtained by a single exposure of a camera and two flash shots in accordance with an embodiment of the present invention;
fig. 6 is a flowchart of a method for measuring pose change of a super-high speed flight model in a second embodiment of the invention.
In the figure: 100: a sequential light source module; 200: a front light imaging module; 3: a model; 4: a light absorbing medium layer.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the pose change measurement device for a super-high-speed flight model provided by the embodiment of the invention includes: the sequential light source module 100, the front light imaging module 200, the control module and the data processing module, fig. 1 shows the measurement state of the model 3, omits the control module and the data processing module, and the following details are described:
the sequential light source module 100 is configured to generate sequential pulse light beams, irradiate a model to be measured, and the surface of the model is provided with coded mark points, and each coded mark point corresponds to a different number for positioning the model 3.
The front light imaging module 200 includes a binocular camera for continuously capturing a double present light image of the model 3 at a plurality of light emitting moments within one exposure time, where the plurality of fingers is greater than two, i.e., at least two light emitting moments are corresponding within one exposure time. The binocular camera is used for shooting double current light images of the model at the moment when the sequence pulse light beam irradiates, the sequence light source module flashes for many times, and the irradiation moment is the moment for measuring a plurality of pose of the model. As shown in fig. 1, after the binocular cameras of the sequential light source module 100 and the front light imaging module 200 are laid out as required, a measurement field of view is formed, and when the model 3 passes through the field of view at an ultra-high speed, the flying pose of the model 3 in the measurement field of view is photographed and changed.
It should be noted that, the range of the binocular camera in the invention not only includes a binocular stereo camera with double lenses, but also includes a binocular vision measuring station formed by shooting two single-lens cameras from different positions, as shown in fig. 1, so that binocular stereo vision positioning can be realized. The dual present light image here includes two images for achieving binocular stereo pose measurement.
The control module is respectively connected with the sequential light source module 100 and the front light imaging module 200 and is used for controlling the sequential pulse light beam to emit light and the exposure of the binocular camera, and the sequential light source module performs flash imaging for a plurality of times during the single opening and closing period of the binocular camera. Let the light emitting time of the sequential light source module be t 1 …t i …t n The binocular camera synchronously exposes, and the exposure starting time and the exposure ending time are respectively T 1 And T 2 Requirement T 1 Prior to t 1 At the same time T 2 After t n I.e. all light source light-emitting moments are required to be within the camera exposure time.
The data processing module is connected with the front light imaging module 200, and is used for acquiring exposure from the front light imaging module 200 to obtain a double current light image, and resolving the pose change of the model 3 according to the double current light images obtained at a plurality of light emitting moments. Preferably, the data processing module is configured to extract at least three encoding marker points that can be identified simultaneously from a double current light image (i.e. two model images generated by binocular shooting) at a single light irradiation moment, and calculate to obtain a model pose at the moment according to pre-calibrated binocular camera imaging parameters and corresponding position coordinates of the encoding marker points. The corresponding double current light image processing and gesture resolving methods at different moments are the same, and the time-varying situation of the gesture of the model 3 can be obtained according to the light irradiation time sequence of the plurality of sequence pulse light beams and the corresponding gesture of the model at each moment.
The pattern 3 provided with the coded mark points is shown in fig. 2, for example, the coded mark points can be etched on the surface of the metal pattern by using a laser marking method. The coded mark points can be round, square, diagonal, etc. Before measurement, the position of the mass center of the model can be obtained through a mass center measuring system, the spatial position relation among all the coding mark points on the surface of the model is established through a three-dimensional scanning system, and the coding mark points are converted into a coordinate system of the mass center of the model through coordinate conversion, so that the position coordinates of all the coding mark points are obtained. This part is the prior art and will not be described in detail here.
The binocular camera may be calibrated using a calibration plate before the model 3 is photographed using the binocular camera. As shown in fig. 3, the calibration plate is provided with a plurality of calibration points whose positional relationship with each other is known, i.e., the positional relationship between the internal points of each calibration plate is known. In the calibration process, the calibration plate is placed in the binocular view field to change the positions for a plurality of times, a plurality of (preferably more than 5) images of different positions of the calibration plate are shot, parameters such as the focal length, the principal point, the aberration coefficient, the pose relation between the two cameras and the like are obtained through extraction of the mark points, and the calibration process is completed.
As shown in fig. 4, the spatial position of a point can be obtained according to the images shot by the binocular stereo vision convergence method, and the basic method is to extract the same mark point on two images to obtain two-dimensional coordinates of the images, and then realize binocular convergence according to the calibration result to obtain the position coordinates of the spatial point.
As shown in fig. 5, the model pose at two moments is included in the (monocular) front light image of the camera single exposure, sequential light source module flash illumination twice. As shown in fig. 4, according to the binocular stereo vision intersection method, the spatial positions of the coded mark points can be calculated by extracting the model surface coded mark points which can be identified simultaneously in the two (same-time) model images. When at least three coding mark points are positioned, at the same time, the coordinate values of the mark points under the mass center coordinate system of the model are also known according to the previous description, namely, the position and the gesture of the model can be obtained by using a common absolute orientation method based on SVD decomposition, and the more the extracted coding mark points are identified, the higher the resolving precision is.
The invention provides a pose change measuring device for an ultra-high-speed flight model, which adopts binocular vision to measure the pose change of a complex-shape model during ultra-high-speed flight and has the advantages of large measurement view field, high measurement precision and simple imaging light path. The device adopts a binocular camera to perform single exposure and multiple light source flash imaging, can obtain double current light images of the ultra-high speed flight model at different moments, can obtain model pose information at multiple moments in one photo by utilizing one measuring station (namely the binocular camera), can obtain model pose change information by combining a sequence pulse beam light irradiation time sequence, is particularly suitable for models in high-speed flight motion, does not need to consider the association among multiple measuring stations, is convenient to solve, overcomes the difficulty of measuring station association when the flight pose of the model is measured by adopting multiple vision pose measuring stations, and simultaneously saves hardware cost.
Preferably, the front light imaging module further comprises a light absorbing medium layer 4, as shown in fig. 1, the light absorbing medium layer 4 is arranged in the field of view of the binocular camera, and is located on one side of the model 3 away from the binocular camera, and is used for absorbing background light which may cause interference, so that images of the model 3 can be conveniently extracted. Further preferably, the light absorbing medium layer 4 is made of a black light absorbing material, and is used for absorbing light emitted by a light source, for example, the light absorbing medium layer 4 can be made of black cloth or black paint, and when in use, the black cloth or black paint is paved on the wall behind the field of view of the binocular camera, or the whole set of device is placed in a darkroom coated with the light absorbing medium layer 4, so that the effect is better.
Preferably, in view of the model flying at an ultra-high speed, the sequential light source module 100 employs a pulse laser to generate a laser sequential pulse beam for capturing the model image more clearly and accurately, and further preferably, the pulse laser is used to generate a laser pulse beam with a pulse of less than 10ns and an exit energy of 190-210 mJ, and the laser wavelength may be 532nm. The larger the laser energy of the light source is, the higher the imaging contrast of the model mark point is, but the excessive energy can cause the image overexposure. The model is irradiated after the laser pulse beam generated by the pulse laser is expanded and homogenized, the flash speed is high, the field of view of a camera is improved, the irradiation range of a light source is enlarged, the measuring field of view is larger than the range of 1 meter in diameter, the light emitting moment of the light source must ensure that the model is in the field of view, and the measuring field of view is large, so that the measurement is facilitated. In addition, the higher the model flying speed, the shorter the time interval between the required light source flashing, namely the smaller the pulse, and the specific adjustment can be carried out according to the actual situation.
Example two
The second embodiment provides a method for measuring pose change of a super-high-speed flight model, which adopts the device for measuring pose change of a super-high-speed flight model according to any one of the embodiments, and specifically comprises the following steps:
s1, generating a sequence pulse beam by using a sequence light source module, and irradiating a model to be measured by light from a plurality of times; continuously shooting double current light images of a plurality of light emitting moment models within one exposure time by using a binocular camera;
s2, according to the double current light images obtained at a plurality of light emitting moments, the pose change of the model is obtained through calculation.
Preferably, as shown in fig. 6, the method further includes, before step S1, making coded mark points on the surface of the model, for example, etching the coded mark points on the metal model by using a laser marking method; obtaining a model centroid position, for example, a model centroid position can be obtained by using a centroid measurement system in the prior art; and establishing a spatial position relation between the coding mark points on the surface of the model through three-dimensional scanning, and converting the coding mark points into a model centroid coordinate system to obtain the position coordinates of each coding mark point.
Further preferably, as shown in fig. 6, the method further includes calibrating the binocular camera to calibrate imaging parameters of the binocular camera to calculate a relationship between the image and the spatial position before the binocular camera is used to capture the dual present light image in step S1. The calibration can be realized by adopting a binocular stereoscopic vision camera calibration method based on a planar target plate. The calibration adopts at least one calibration plate, and the position relation between the inner points of each calibration plate is known. Preferably, a plurality of calibration plates can be shot at the same time, so that the number of times of shooting can be reduced, and the calibration efficiency is improved.
Preferably, step S2 includes:
s2-1, calculating the spatial position of the coding mark points according to at least three coding mark points which can be identified simultaneously in the double current light images at the single light emitting moment and combining imaging parameters of the binocular camera to obtain the model pose at the moment. Preferably, the spatial location of the coded marker points can be obtained using a common binocular stereo vision intersection method. When at least three coded marker points are located, the position and posture of the model can be obtained by using a general absolute orientation method. Meanwhile, the more the code mark points are identified and extracted, the higher the resolving precision is,
s2-2, calculating the pose change of the model according to the light irradiation time sequence of the plurality of sequence pulse light beams and the corresponding model pose at each moment.
In summary, the present invention provides a method for measuring pose changes of an ultra-high speed flight model, which can use the measuring device in the above embodiment to measure pose. The measuring method provided by the invention utilizes the binocular camera to obtain a plurality of flash time front light images of the model in ultra-high speed flight, and combines the calibration data of the binocular measuring station and the space coordinate relation between the surface coding mark points of the model and the mass centers of the model to calculate the sequence pose of the model in flight, so as to obtain the pose change of the model. The light-emitting time sequence of the pulse laser is the time for measuring different poses of the model, the method has the advantages of large test field, high measurement precision and simple imaging light path, and the difficulty of measuring station association when the flight poses of the multiple vision pose measuring station models change is overcome, and meanwhile, the hardware cost is saved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides a superhigh speed flight model pose change measuring device which characterized in that includes:
the sequence light source module is used for generating sequence pulse light beams and irradiating a model to be measured, and the surface of the model is provided with coding mark points;
the front light imaging module comprises a binocular camera, the binocular camera is used for continuously shooting double current light images of the model at a plurality of light emitting moments in one exposure time, and the plurality of light emitting moments of the sequence light source module are moments for measuring a plurality of pose of the model;
the control module is connected with the sequential light source module and the front light imaging module and used for controlling sequential pulse light beam light emission and binocular camera exposure;
the data processing module is used for calculating the pose change of the model according to the double current light images obtained at a plurality of light emitting moments;
the front light imaging module further comprises a light absorption medium layer, wherein the light absorption medium layer is arranged in the view field of the binocular camera and is positioned at one side of the model far away from the binocular camera; the sequential light source module adopts a pulse laser to generate sequential pulse light beams; the pulse laser is used for generating a laser pulse beam, and irradiating the model after beam expansion and homogenization.
2. The ultra-high speed flight model pose change measurement device according to claim 1, wherein:
the light absorption medium layer is black cloth or black paint.
3. The ultra-high speed flight model pose change measurement device according to claim 1, wherein:
the data processing module is used for extracting at least three coding mark points which can be identified simultaneously from a double current light image at a single light irradiation moment, and resolving the model pose at the moment according to imaging parameters calibrated in advance; and according to the light irradiation time sequence of the plurality of sequence pulse light beams and the corresponding model pose at each moment, calculating the pose change of the model.
4. The ultra-high speed flight model pose change measurement method is characterized by adopting the ultra-high speed flight model pose change measurement device according to any one of claims 1-3, and specifically comprising the following steps:
s1, generating a sequence pulse beam by using a sequence light source module, and irradiating a model to be measured by light from a plurality of times; continuously shooting double current light images of the model at a plurality of light emitting moments within one exposure time by using a binocular camera;
s2, according to the double current light images obtained at a plurality of light emitting moments, calculating to obtain the pose change of the model.
5. The ultra-high speed flight model pose change measurement method according to claim 4, wherein:
and before the step S1, making coding mark points on the surface of the model to obtain the mass center positions of the model, establishing the spatial position relation between the coding mark points on the surface of the model through three-dimensional scanning, and converting the coding mark points into a mass center coordinate system of the model to obtain the position coordinates of each coding mark point.
6. The ultra-high speed flight model pose change measurement method according to claim 4, wherein:
before the step S1, calibrating the binocular camera to calibrate imaging parameters of the binocular camera so as to solve the relation between the image and the spatial position; the calibration adopts at least one calibration plate, and the position relation between the inner points of each calibration plate is known.
7. The ultra-high speed flight model pose change measurement method according to claim 6, wherein said step S2 comprises:
s2-1, calculating the spatial positions of coding mark points according to at least three coding mark points which can be identified simultaneously in a double current light image at a single light emitting moment and by combining imaging parameters of a binocular camera, so as to obtain a model pose at the moment;
s2-2, according to the light irradiation time sequence of the plurality of sequence pulse light beams and the corresponding model pose at each moment, calculating the pose change of the model.
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| CN114697560A (en) * | 2020-12-31 | 2022-07-01 | 浙江舜宇智能光学技术有限公司 | Active exposure method based on TOF imaging system and exposure time calculation method |
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