CN102339069B - Control method of four-axis motor based on visual signal feedback - Google Patents
Control method of four-axis motor based on visual signal feedback Download PDFInfo
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- CN102339069B CN102339069B CN 201110203948 CN201110203948A CN102339069B CN 102339069 B CN102339069 B CN 102339069B CN 201110203948 CN201110203948 CN 201110203948 CN 201110203948 A CN201110203948 A CN 201110203948A CN 102339069 B CN102339069 B CN 102339069B
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Abstract
The invention discloses a control method of a four-axis motor based on visual signal feedback. The device used by the control method is a four-degree-of-freedom mechanical arm missile hanging device. The method sequentially comprises the following steps of: setting marks; defining the marks into a plurality of marking group regions; distinguishing a first marking region from a second marking region in each mark group region; judging the shape of the first marking region and the shape of the second marking region; controlling each motor to work according to marking position information; and transversely pushing a missile to the missile hanging position and finishing the missile hanging action. According to the method disclosed by the invention, the position adjustment of four degrees of freedom can be automatically realized according to the missile hanging position of wings. The hanging position is accurate and high work efficiency is achieved.
Description
Technical field
The invention belongs to the mechanical automation technical field, be specifically related to a kind of four spindle motor control methods based on visual signal feedback.
Background technology
Along with the development of modern military equipment, guided missile has become the primary armament that opportunity of combat is attacked and defendd, and hanging guided missile and refuel for aircraft becomes the pith of ground safeguard task.Can shorten the opportunity of combat dispatch interval time be the key that obtains the war first chance.Statistics shows, the airman of U.S. army is to attack over the ground in main operation, aircraft is hung the workload that plays operation and is accounted for 80% of whole ground safeguard operation, the personnel that take are more than 6, be " the shortest plank " in ground safeguard operation " wooden barrel ", therefore giving and hanging the quick carry guided missile of bullet aircraft is one of important " firmly " operation index that improves the air battle quick-reaction capability (QRC).The early stage bullet of hanging is fully by manual method, and mechanization now increases, but in most cases, still needing has the ground crew to participate in.
At present, main extension bullet mode is that full rigidity is hung bullet.Full rigidity is hung bullet and is carried body by the feeder holder of bomb truck mechanical arm, and the visual inspection by the ground crew comes the auxiliary commander of robotic arm manipulation hand is completed the extension bullet via cooperatively interacting of many personnel.Hang bullet and require body accurately to dock with the fastening interface of wing, continue by the staff to fastening interface be connected device and connect.The shortcoming of this extension bullet mode maximum needs the mutual and continuous adjusted position of multiple person cooperational to put exactly, and personnel are many and efficient is low.
Summary of the invention
The purpose of this invention is to provide a kind of four spindle motor control methods based on visual signal feedback, can automatically adjust the position of realization on four degree of freedom according to the wing bomb station, mount the position accurate, and high efficiency.
The technical solution adopted in the present invention is, a kind of four spindle motor control methods based on visual signal feedback, it is characterized in that, the device that this method is utilized is four-degree-of-freedom mechanical arm lug, it comprises support, XY platform, scissors fork elevating mechanism and the rotating platform mechanism that connects successively from top to bottom setting, the XY platform comprises X-direction rolling linear guide device and Y-direction rolling linear guide device, be connected with the X-direction drive motor on X-direction rolling linear guide device, be connected with the Y-direction drive motor on Y-direction rolling linear guide device; Scissors fork elevating mechanism comprises the scissors mechanism of vertical setting, and is used for driving the scissors mechanism Z-direction drive motor of stretching motion up and down; Rotating platform mechanism comprises The Cloud Terrace and the rotary drive motor that is used for driving the The Cloud Terrace rotation, camera and guided missile seat are installed on The Cloud Terrace, also comprise control module, control module is connected with X-direction drive motor, Y-direction drive motor, Z-direction drive motor, rotary drive motor and camera;
The step of this method is:
In a plurality of bomb stations of wing corresponding mark group that a plurality of different colours are set respectively, described each mark group includes triangular marker and the circular mark that color is identical and be set up in parallel;
Build the rectangular coordinate system of horizontal direction in the ken image of camera, specify the pixel of transverse and longitudinal coordinate minimum in this mark group zone as the initial pixel point, calculate the pixel distance h between other pixel and this initial pixel point in this mark group zone, the pixel distance of maximum is defined as H, relatively each pixel distance h and H/2 are big or small, and pixel distance h is the first marked region Ω greater than the pixel sets definition of H/2
1, pixel distance h is the second marked region Ω less than the pixel sets definition of H/2
2
Build the boundary rectangle of marked region to be discriminated, calculate the area S of this boundary rectangle
rAnd the area S of marked region to be discriminated, calculate the area ratio of the marked region to be discriminated boundary rectangle corresponding with it: η=S/S
r, setting threshold Th when η 〉=Th, judges the circle that is shaped as of this marked region to be discriminated, namely to differentiate marked region be circular mark to this band; Otherwise this marked region to be discriminated is triangular marker;
Circular mark mid point A (x in step 5, the same mark group of calculating
2, y
2), and triangular marker mid point B (x
3, y
3), and pixel A (x
2, y
2) and pixel B (x
3, y
3) between the mid point C (x of line
4, y
4);
Calculate the central point D (x of camera ken image
5, y
5);
The work of step 6, control X-direction drive motor, Y-direction drive motor, Z-direction drive motor and rotary drive motor:
Step 6.1, according to pixel A (x
2, y
2) and B (x
3, y
3) relative position, control the work of rotary drive motor:
Set and judge the rotation threshold epsilon
1, detect in real time y
3With y
2Numerical value and both sizes relatively, drive rotary drive motor according to comparative result and rotate, until | y
3-y
2|＜ε
1
Step 6.2, according to pixel C (x
4, y
4) and D (x
5, y
5) relative position, control the work of X-direction drive motor and Y-direction drive motor:
Set X-direction and aim at threshold epsilon
2, detect in real time x
4With x
5Numerical value and both sizes relatively, drive X-direction drive motor 6 forward or reverse according to comparative result, until | x
4-x
5|＜ε
2Set Y-direction and aim at threshold epsilon
3, detect in real time y
4With y
5Numerical value and both sizes relatively, drive Y-direction drive motor 8 forward or reverse according to comparative result, until | y
4-y
5|＜ε
3
Step 6.3, the acquisition Real-Time Monitoring ken obtain the area of detection of circular mark, and with control system in real area and the distance-area mapping relations of default this circle mark, drive the work of Z-direction drive motor, the Z-direction drive motor drives scissors mechanism and stretches upwards, until the height of guided missile and bomb station is identical;
Step 7, realize the horizontal propelling of guided missile:
Drive the X-direction drive motor and rotate, make XY platform 2 default horizontal advance distance L of translation on X-direction, at this moment, the position of guided missile and bomb station overlaps; On hanging point with guided missile propulsion to the wing, complete and hang springing and do.
In step 1, on two bomb stations under the wings of an airplane, red-label group and Green Marker group are set respectively, described red-label group comprises red triangular marker and red circular mark, and described Green Marker group comprises Green triangle shape mark and green circular mark;
In step 2, each pixel (R (i in the ken image that camera obtains, j), G (i, j), B (i, j)), control module extracts red pixel point set or the green pixel point set in this ken image, defines this red pixel point set and is combined into red-label group zone, and it is regional that definition green pixel point set is combined into the Green Marker group;
Wherein, the extraction formula of red pixel point is: R (i, j)-G (i, j)＞Th
R, and R (i, j)-B (i, j)＞Th
R, Th
RBe red judgment threshold;
The extraction formula of green pixel point is: G (i, j)-R (i, j)＞Th
G, and G (i, j)-B (i, j)＞Th
G, Th
RBe green judgment threshold.
In step 2, Th
RSpan be 20＜Th
R＜35, Th
GSpan be 20＜Th
G＜35.
In step 4, the span of Th is 60%＜Th＜80%.
Between step 6.3 and step 7, in steps 6.4, the fine setting of XY position of platform: set X-direction fine setting threshold epsilon
4, detect in real time x
4With x
5Numerical value and both sizes relatively, drive X-direction drive motor 6 forward or reverse according to comparative result, until | x
4-x
5|＜ε
4Set Y-direction fine setting threshold epsilon
5, detect in real time y
4With y
5Numerical value and both sizes relatively, drive Y-direction drive motor 8 forward or reverse according to comparative result, until | y
4-y
5|＜ε
5
Wherein, ε
1Span be 3＜ε
1＜10, ε
2Span be 5＜ε
2＜10, ε
3Span be 5＜ε
3＜10, ε
4Span be 2＜ε
4＜5, ε
5Span be 2＜ε
5＜5.
the invention has the beneficial effects as follows, in whole extension bullet process, according to the bomb station of the wing both sides corresponding mark group that a plurality of different colours are set respectively, in the real-time ken image that camera obtains, extract the colouring information of each pixel and form a plurality of mark groups regional, divide the first marked region and the second marked region again in each mark group zone, and specifically determine the shape of the first marked region and the second marked region, the last work of controlling four motors according to the label information after determining, hang the robotization of bullet to realize machinery, avoided blocking because of guided missile the needs problem that manually guiding bomb hoist tool arm moves on a plurality of visual angles that sight line causes, mount the position accurate, and saved manpower, work efficiency is improved.
Description of drawings
Fig. 1 is the structural representation of the four-degree-of-freedom mechanical arm lug that utilizes of the present invention;
Fig. 2 is the structural representation of the XY platform in the present invention;
Fig. 3 is the structural representation of the scissors fork elevating mechanism in the present invention;
Fig. 4 is the structural representation of the rotating platform mechanism in the present invention;
wherein, 1. support, 2.XY platform, 3. scissors fork elevating mechanism, 4. rotating platform mechanism, 5. the first base plate, 6.X to drive motor, 7. the second base plate, 8.Y to drive motor, 9. the 3rd base plate, 10. scissors mechanism, 11.Z to drive motor, 12. upper plate, 13. The Cloud Terrace, 14. input gear, 15. output gear, 16. rotary drive motor, 17. guided missile seat, 18.X to ball-screw, 19.Y to ball-screw, 20.Y to feed screw nut, 21.Y to the feed screw nut seat, 22. fixed-hinged support, 23.Z to ball-screw, 24.Z to feed screw nut, 25.Z to slide block, 26. vertical axes.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Figures 1 to 4, the device that the present invention utilizes is four-degree-of-freedom mechanical arm lug, and it comprises support 1, XY platform 2, scissors fork elevating mechanism 3 and the rotating platform mechanism 4 that connects successively from top to bottom setting.
XY platform 2 comprises the first base plate 5 that is fixed on support 1, be provided with X-direction rolling linear guide device and X-direction drive motor 6 on the first base plate 5, X-direction rolling linear guide device comprises X-direction ball-screw 18 and sliding part, the X-direction feed screw nut seat that the sliding part of X-direction rolling linear guide device comprises the X-direction feed screw nut that is arranged on X-direction ball-screw 18 and is fixed in X-direction feed screw nut outside, the second base plate 7 is fixed in the top of X-direction feed screw nut seat, and X-direction drive motor 6 is connected with X-direction ball-screw 18 and drives its axial rotation.Be provided with Y-direction rolling linear guide device and Y-direction drive motor 8 on the second base plate 7, Y-direction rolling linear guide device comprises Y-direction ball-screw 19 and sliding part, the Y-direction feed screw nut seat 21 that the sliding part of Y-direction rolling linear guide device comprises the Y-direction feed screw nut 20 that is arranged on Y-direction ball-screw 19 and is fixed in Y-direction feed screw nut 20 outsides, the 3rd base plate 9 is fixed in the top of Y-direction feed screw nut seat 21, and Y-direction drive motor 8 is connected with Y-direction ball-screw 19 and drives its axial rotation.
Scissors fork elevating mechanism comprises the 3rd base plate 9, the 3rd base plate 9 levels are fixed on Y-direction feed screw nut 20, and the 3rd base plate 9 tops are provided with the scissors mechanism 10 of vertical direction and Z-direction drive motor 11, Z-direction rolling linear guide device and the fixed-hinged support 22 that is used for driving scissors mechanism stretching motion Shang Xia 10.Z-direction rolling linear guide device comprises Z-direction ball-screw 23, is arranged on the Z-direction feed screw nut 24 on Z-direction ball-screw 23, and the outside of Z-direction feed screw nut 24 is fixed with Z-direction slide block 25, and Z-direction drive motor 11 is connected with Z-direction ball-screw 23.The fixation side of scissors mechanism 10 bottoms is hinged on fixed-hinged support 22, motion side and the Z-direction slide block 25 of scissors mechanism 10 bottoms are hinged, scissors mechanism 10 upper ends are equipped with the upper plate 12 of horizontal direction, the fixation side of scissors mechanism 10 upper ends is hinged on the below of upper plate 12, the below of upper plate 12 also is provided with rail plate, be provided with sliding block on rail plate, motion side and the sliding block of scissors mechanism 10 upper ends are hinged.
Rotating platform mechanism comprises the The Cloud Terrace 13 that is arranged on upper plate 12 tops, be provided with vertical axes 26 on upper plate 12, The Cloud Terrace 13 is arranged on vertical axes 26 by bearing, be connected with gear drive on The Cloud Terrace 13, the input gear 14 of gear drive is connected with rotary drive motor 16, the output gear 15 of gear drive is coaxial to be fixed on vertical axes 26, also is provided with camera and guided missile seat 17 on The Cloud Terrace 13.
Also comprise control module, described control module is connected with described X-direction drive motor 6, Y-direction drive motor 8, Z-direction drive motor 11, rotary drive motor 16 and camera.
The step of the inventive method is:
Consider marker color to the resistivity of environmental interference, the present embodiment has been selected redness (R, G, B)=(255,0,0) of high saturation, and mark carries out in green (R, G, B)=(0,255,0).In the present embodiment, two bomb stations are arranged under wing, therefore, on these two bomb stations, red-label group and Green Marker group are set respectively, described red-label group comprises red triangular marker and red circular mark, and described Green Marker group comprises Green triangle shape mark and green circular mark.
Because each bomb station needs to design two fore-and-aft directions that can indicate to distinguish bomb station at least, if only distinguish with color, at least need the sign of four kinds of colors in the present embodiment in a side of wing, the inventive method adopts all uses two kinds of difform signs in the sign group of same color, its needs are taked the sign with two kinds of colors, reduce the use of color category, because the fewer interference of marker color is just fewer, the degree of accuracy of hanging like this bullet is improved.
Consideration is processed under RGB colorimetric system will be convenient, and the conversion formula that real-time ken image from the YCbCr colour system to RGB is is as follows:
R＝Y+1.402(Cr-128)，
G＝Y-0.34414(Cb-128)-0.71414(Cr-128)，
B＝Y+1.772(Cb-128)。
Therefore, each pixel in the ken image of this acquisition (R (i, j), G (i, j), B (i, j)).Control module extracts red pixel point set or the green pixel point set in this ken image, defines this red pixel point set and is combined into red-label group zone, and it is regional that definition green pixel point set is combined into the Green Marker group;
Have many-sided identification that affects color in video acquisition due to reality, so the present invention has set certain threshold value space in the color collection.
For the red pixel point, redness on theory (R, G, B)=(255,0,0), but due to reality detect in because of the impact of the factors such as light, red actual (R, G, B) value and theoretical value have some deviations, so, the extraction formula of red pixel point is: R (i, j)-G (i, j)＞Th
R, and R (i, j)-B (i, j)＞Th
R, Th
RBe red judgment threshold, Th
RSpan be 20＜Th
R＜35.
Equally, the extraction formula of green pixel point is: G (i, j)-R (i, j)＞Th
G, and G (i, j)-B (i, j)＞Th
G, wherein, Th
GBe green judgment threshold, Th
GSpan be 20＜Th
G＜35.
Build the rectangular coordinate system of horizontal direction in the ken image of camera, specify transverse and longitudinal coordinate in this mark group zone all minimum pixel as the initial pixel point, calculate the pixel distance h between other pixel and this initial pixel point in this mark group zone, the pixel distance of maximum is defined as H, relatively each pixel distance h and H/2 are big or small, and pixel distance h is the first marked region Ω greater than the pixel sets definition of H/2
1, pixel distance h is the second marked region Ω less than the pixel sets definition of H/2
2
Build the boundary rectangle of marked region to be discriminated, define the upper left corner of this boundary rectangle and the angular coordinate in the lower right corner and be respectively (x
0, y
0), (x
1, y
1), (coordinate unit is pixel, below all identical) calculates the area S of its boundary rectangle
rFor: S
r=(x
1-x
0) (y
1-y
0),
Calculate the area S:S=N of marked region to be discriminated
Ω, wherein, Ω is the first marked region Ω
1Or the second marked region Ω
2, N
ΩPixel number for this marked region.
Calculate the area ratio of the marked region to be discriminated boundary rectangle corresponding with it: η=S/S
r, setting threshold Th when η 〉=Th, judges the circle that is shaped as of this marked region to be discriminated, namely to differentiate marked region be circular mark to this band; Otherwise this marked region to be discriminated is triangular marker.Theoretical calculating can draw, circular area accounts for the ratio of its corresponding boundary rectangle area greater than 50%, be 50% and triangle area accounts for the ratio of its corresponding boundary rectangle area, so, the percentage that the present invention accounts for its corresponding boundary rectangle by the marked region recently shape in separator zone is triangle or circle, consider the impact of the external factors such as light, the span of Th is 60%＜Th＜80%.
Circular mark mid point A (x in step 5, the same mark group of calculating
2, y
2), and triangular marker mid point B (x
3, y
3), and pixel A (x
2, y
2) and pixel B (x
3, y
3) between the mid point C (x of line
4, y
4);
Calculate the central point D (x of camera ken image
5, y
5).
The work of step 6, control X-direction drive motor (6), Y-direction drive motor (8), Z-direction drive motor (11) and rotary drive motor (16):
Step 6.1, according to pixel A (x
2, y
2) and B (x
3, y
3) relative position, control the work of rotary drive motor (16):
The present invention is at definite red A (x
2, y
2) and B (x
3, y
3) when whether line is horizontal line, does not calculate its 2 lines and horizontal angle, but judge with the difference of coordinate figure.Work as y
3=y
2The time, show that guided missile is consistent with the direction of wing hanging point.Like this, do not need to calculate angle and the system computing of making Simple fast more.
Detect in real time y
3With y
2Numerical values recited, the judgement of setting rotation threshold epsilon
1, ε
1Span be 3＜ε
1＜10, work as y
3-y
2＞ε
1The time, control module drives rotary drive motor (16) forward or reverse, works as y
3-y
2＜-ε
1The time, control module drives rotary drive motor (16) counter-rotation, until | y
3-y
2|＜ε
1, this moment, guided missile was parallel with bomb station.
Step 6.2, according to pixel C (x
4, y
4) and D (x
5, y
5) relative position, control the work of X-direction drive motor 6 and Y-direction drive motor 8:
Move control by controlling X-direction drive motor 6 and Y-direction drive motor 8 to realize XY platform 2, make the X-Y plane coordinate of the guided missile that is arranged on guided missile seat 17 and bomb station substantially identical.Hang the efficient of bullet for larger raising, taked X-direction drive motor 6 and 8 while of Y-direction drive motor task driven XY platform 2 to move here.
Set X-direction and aim at threshold epsilon
2, ε
2Span be 5＜ε
2＜10, detect in real time x
4With x
5Numerical value and both sizes relatively, drive X-direction drive motor 6 forward or reverse according to comparative result, until | x
4-x
5|＜ε
2Set Y-direction and aim at threshold epsilon
3, ε
3Span be 5＜ε
3＜10, detect in real time y
4With y
5Numerical value and both sizes relatively, drive Y-direction drive motor 8 forward or reverse according to comparative result, until | y
4-y
5|＜ε
3At this moment, complete the adjustment of XY platform 2.
step 6.3, height on Z axis is controlled, to determine according to the size of the mark that collects, because the mark of camera under the wing, therefore, the size of mark and the distance between camera are inversely proportional to, according to the area of detection that obtains the circular mark of Real-Time Monitoring ken acquisition, real area and distance-area mapping relations with this circle mark default in itself and control system, drive 11 work of Z-direction drive motor, Z-direction drive motor 11 drives scissors mechanism 10 and stretches upwards, until the height of guided missile and bomb station is identical, extension bullet work with the aircraft wing of realizing differing heights, make the adaptability of four-degree-of-freedom mechanical arm lug stronger.
In uphill process, there is certain disturbance, have certain error, at this, for improving the accuracy of hanging bullet, before hanging the springing work, carry out the fine setting of XY platform 2 positions, make the extension bullet more accurate.
The fine setting of step 6.4, XY platform 2 positions: according to pixel C (x
4, y
4) and D (x
5, y
5) relative position, control the work of X-direction drive motor 6 and Y-direction drive motor 8:
Set X-direction fine setting threshold epsilon
4, ε
4Span be 2＜ε
4＜5, detect in real time x
4With x
5Numerical value and both sizes relatively, drive X-direction drive motor 6 forward or reverse according to comparative result, until | x
4-x
5|＜ε
4Set Y-direction fine setting threshold epsilon
5, ε
5Span be 2＜ε
5＜5, detect in real time y
4With y
5Numerical value and both sizes relatively, drive Y-direction drive motor 8 forward or reverse according to comparative result, until | y
4-y
5|＜ε
5At this moment, complete the fine setting of XY platform 2.
Step 7, realize the horizontal propelling of guided missile:
After step 6.4, guided missile arrives bomb station substantially, keeps predefined horizontal advance distance L between guided missile and hanging point, at this moment, only need carry out X-axis translation L, gets final product on the hanging point with guided missile propulsion to the wing.
After the extension springing was completed, four-degree-of-freedom mechanical arm lug resetted, and gets back to elemental height, completes whole extension bullet process.
In whole extension bullet process of the present invention, the control of each motor is based on that the image detection signal of the set color mark of system completes, solved because guided missile blocks the needs problem that manually guiding bomb hoist tool arm moves on a plurality of visual angles that sight line causes, realized the robotization of mechanical extension bullet.
Claims (6)
1. four spindle motor control methods based on visual signal feedback, it is characterized in that, the device that this method is utilized is four-degree-of-freedom mechanical arm lug, it comprises support (1), XY platform (2), scissors fork elevating mechanism (3) and the rotating platform mechanism (4) that connects successively from top to bottom setting, described XY platform (2) comprises X-direction rolling linear guide device and Y-direction rolling linear guide device, be connected with X-direction drive motor (6) on described X-direction rolling linear guide device, be connected with Y-direction drive motor (8) on described Y-direction rolling linear guide device; Described scissors fork elevating mechanism comprises the scissors mechanism (10) of vertical setting, and the Z-direction drive motor (11) that is used for driving described scissors mechanism (10) up and down stretching motion; Described rotating platform mechanism comprises The Cloud Terrace (13) and the rotary drive motor (16) that is used for driving described The Cloud Terrace (13) rotation, camera and guided missile seat (17) are installed on described The Cloud Terrace (13), also comprise control module, described control module is connected with described X-direction drive motor (6), Y-direction drive motor (8), Z-direction drive motor (11), rotary drive motor (16) and camera;
The step of this method is:
Step 1, mark is set:
In a plurality of bomb stations of wing corresponding mark group that a plurality of different colours are set respectively, described each mark group includes triangular marker and the circular mark that color is identical and be set up in parallel;
Step 2, obtain to comprise real-time ken image in all being marked at by described camera, described control module extracts the identical pixel of each mark group color that arranges with step 1 in this ken image, and it is regional that the pixel set correspondence of extracting is defined as a plurality of mark groups;
Step 3, in each mark group zone, distinguish the first marked region Ω
1With the second marked region Ω
2:
Build the rectangular coordinate system of horizontal direction in the ken image of camera, specify the pixel of transverse and longitudinal coordinate minimum in this mark group zone as the initial pixel point, calculate the pixel distance h between other pixel and this initial pixel point in this mark group zone, the pixel distance of maximum is defined as H, relatively each pixel distance h and H/2 are big or small, and pixel distance h is the first marked region Ω greater than the pixel sets definition of H/2
1, pixel distance h is the second marked region Ω less than the pixel sets definition of H/2
2
Step 4, differentiate the first marked region Ω respectively
1With the second marked region Ω
2Shape:
Build the boundary rectangle of marked region to be discriminated, calculate the area S of this boundary rectangle
rAnd the area S of marked region to be discriminated, calculate the area ratio of the marked region to be discriminated boundary rectangle corresponding with it: η=S/S
r, setting threshold Th when η 〉=Th, judges the circle that is shaped as of this marked region to be discriminated, namely to differentiate marked region be circular mark to this band; Otherwise this marked region to be discriminated is triangular marker;
Circular mark mid point A (x in step 5, the same mark group of calculating
2, y
2), and triangular marker mid point B (x
3, y
3), and pixel A (x
2, y
2) and pixel B (x
3, y
3) between the mid point C (x of line
4, y
4);
Calculate the central point D (x of camera ken image
5, y
5);
The work of step 6, control X-direction drive motor (6), Y-direction drive motor (8), Z-direction drive motor (11) and rotary drive motor (16):
Step 6.1, according to pixel A (x
2, y
2) and B (x
3, y
3) relative position, control the work of rotary drive motor (16):
Set and judge the rotation threshold epsilon
1, detect in real time y
3With y
2Numerical value and both sizes relatively, drive rotary drive motor (16) according to comparative result and rotate, until | y
3-y
2|＜ε
1
Step 6.2, according to pixel C (x
4, y
4) and D (x
5, y
5) relative position, control the work of X-direction drive motor (6) and Y-direction drive motor (8):
Set X-direction and aim at threshold epsilon
2, detect in real time x
4With x
5Numerical value and both sizes relatively, drive X-direction drive motor (6) forward or reverse according to comparative result, until | x
4-x
5|＜ε
2Set Y-direction and aim at threshold epsilon
3, detect in real time y
4With y
5Numerical value and both sizes relatively, drive Y-direction drive motor (8) forward or reverse according to comparative result, until | y
4-y
5|＜ε
3
Step 6.3, the acquisition Real-Time Monitoring ken obtain the area of detection of circular mark, and with control system in real area and the distance-area mapping relations of default this circle mark, drive Z-direction drive motor (11) work, Z-direction drive motor (11) drives scissors mechanism (10) and stretches upwards, until the height of guided missile and bomb station is identical;
Step 7, realize the horizontal propelling of guided missile:
Drive X-direction drive motor (6) and rotate, make XY platform (2) default horizontal advance distance L of translation on X-direction, at this moment, the position of guided missile and bomb station overlaps; On hanging point with guided missile propulsion to the wing, complete and hang springing and do.
2. according to the described four spindle motor control methods based on visual signal feedback of claim 1, it is characterized in that,
In step 1, on two bomb stations under the wings of an airplane, red-label group and Green Marker group are set respectively, described red-label group comprises red triangular marker and red circular mark, and described Green Marker group comprises Green triangle shape mark and green circular mark;
In step 2, each pixel (R (i in the ken image that camera obtains, j), G (i, j), B (i, j)), control module extracts red pixel point set or the green pixel point set in this ken image, defines this red pixel point set and is combined into red-label group zone, and it is regional that definition green pixel point set is combined into the Green Marker group;
Wherein, the extraction formula of red pixel point is: R (i, j)-G (i, j)＞Th
R, and R (i, j)-B (i, j)＞Th
R, Th
RBe red judgment threshold;
The extraction formula of green pixel point is: G (i, j)-R (i, j)＞Th
G, and G (i, j)-B (i, j)＞Th
G, Th
RBe green judgment threshold.
3. according to the described four spindle motor control methods based on visual signal feedback of claim 2, it is characterized in that, in step 2, Th
RSpan be 20＜Th
R＜35, Th
GSpan be 20＜Th
G＜35.
4. according to the described four spindle motor control methods based on visual signal feedback of claim 1 or 2, it is characterized in that, in step 4, the span of Th is 60%＜Th＜80%.
5. according to the described four spindle motor control methods based on visual signal feedback of claim 1, it is characterized in that, between step 6.3 and step 7, in steps 6.4, the fine setting of XY platform (2) position: set X-direction fine setting threshold epsilon
4, detect in real time x
4With x
5Numerical value and both sizes relatively, drive X-direction drive motor (6) forward or reverse according to comparative result, until | x
4-x
5|＜ε
4Set Y-direction fine setting threshold epsilon
5, detect in real time y
4With y
5Numerical value and both sizes relatively, drive Y-direction drive motor (8) forward or reverse according to comparative result, until | y
4-y
5|＜ε
5
6. according to the described four spindle motor control methods based on visual signal feedback of claim 5, it is characterized in that ε
1Span be 3＜ε
1＜10, ε
2Span be 5＜ε
2＜10, ε
3Span be 5＜ε
3＜10, ε
4Span be 2＜ε
4＜5, ε
5Span be 2＜ε
5＜5, unit is pixel.
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| CN200941038Y (en) * | 2006-03-30 | 2007-08-29 | 中国人民解放军陆军第三十八集团军防空旅 | Mechanical packing vehicle for ground-to air missile |
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