CN103528520A - Binocular vision-based synchronous operation lifting system detection system and method - Google Patents

Abstract

The invention relates to a detection device and method for a synchronous operation jacking system based on binocular vision. The device includes a synchronous operation jacking system, and the device also includes two CCD cameras and their bases, multiple artificial marker points, Light source and computer, two CCD cameras are installed above the synchronous operation jacking system, and multiple artificial markers are installed on different positions of the synchronous jacking system, and the images of artificial markers are continuously collected by the two CCD cameras and transmitted to the computer. The method is: establish a coordinate system, each of the two cameras collects a digital image of an artificial marker point and transmits it to the computer, integrates the image information of the two cameras, and uses binocular vision imaging theory to calculate the three-dimensional image of each marker point in the world coordinate system. Coordinates, and then use linear operations to solve the synchronization and verticality errors of each jacking axis of the synchronous operation jacking system. Realize the non-contact, non-disturbance, high-frequency measurement of the synchronous operation jacking system.

Description

Detection device and method for synchronous operation jacking system based on binocular vision

technical field

The invention relates to measurement technology, in particular to a detection device and method for a synchronous operation jacking system based on binocular vision. the

Background technique

The three-axis air bearing system is the key equipment for the satellite ground simulation test. The synchronous operation jacking system is an important part of the three-axis air bearing system. Usually, the multi-axis synchronous operation jacking system is composed of multiple jacks, which is responsible for completing the ball. Auxiliary disassembly, positioning and protection of bearings and instrument platforms. Because the satellite test puts forward high reliability and high precision requirements for the equipment, the synchronization error and verticality error of the multi-axis synchronous operation jacking system are two of the key technical indicators. Due to the special construction of the three-axis air bearing system The synchronization and verticality detection of its synchronous jacking system have always been a difficult problem for technicians. the

In order to measure the synchronization of multiple jacking shafts, the early method is to use calipers to manually detect the displacement of each jacking shaft, or use components such as stoppers, travel switches, and photoelectric switches to cooperate with the measurement. At present, contact displacement sensors (such as incremental or absolute pull wire displacement sensors) are mainly used in order to improve the accuracy and degree of automation. the

After searching the literature, it is found that the Chinese invention patent application number is: 201110249263.2, and the patent name is: synchronous jacking device loading test bench. This patent designs a test bench to test the synchronization accuracy of the synchronous jacking device. The device to be tested is loaded on the test bench, and then the displacement sensor is used to detect the synchronization accuracy of the synchronous jacking device. Due to the specific structure and weight of synchronous jacking systems, this method of measurement is not suitable. the

Chinese invention patent application number: 200610019913.3, the patent name is: multi-point synchronous lifting device and its lifting method, the patent adopts programmable controller and frequency conversion speed regulation technology to control the hydraulic lifting device synchronously, and the displacement data is obtained by an independently installed absolute displacement sensor supply. the

In the document "Gate Synchronous Jacking System" (published in the Chinese core journal "Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008, Vol. 36, No. 6, 7-9), Chen Baijin et al. introduced the control of multiple jacks synchronous action A synchronous jacking system for gate jacking. In this system, a displacement sensor is installed on each jack to realize the displacement detection of the jacking shaft. the

The use of displacement sensors to detect synchronous displacement mainly has the following disadvantages: 1. It belongs to the contact measurement method, which interferes with the movement of the moving parts to be measured, which is not conducive to accurate measurement; 2. The displacement sensor can only detect displacement and cannot detect each jacking axis. 3. The displacement sensor itself has a certain nonlinear error. In the document "Sensor Error Calibration of Hydraulic Synchronous Jacking Control System" ("Measurement and Control Technology", Vol. 32, No. 1, 2013, 11-13), Lu Guofang and others pointed out that the linearity of the displacement sensor itself has a certain error between the measured value and the real value during field use, and the displacement sensor must be calibrated online. the

Therefore, the above measurement methods are not suitable for the measurement of the synchronous operation jacking system used by the three-axis air bearing platform, and new measurement methods and devices need to be considered. the

Contents of the invention

Based on the above deficiencies, the object of the present invention is to provide a detection device and method for a synchronous operation jacking system based on binocular vision, which can dynamically measure the synchronization of each jacking shaft in the synchronous operation jacking system during the jacking process. and vertical error, and will not interfere with the synchronous jacking system. the

The technology adopted in the present invention is as follows: a synchronous operation jacking system multi-axis synchronous operation binocular vision measurement device adopts a synchronous operation jacking system, and the device also includes two black and white digital CCD cameras and their bases, a plurality of artificial Marking points, two auxiliary light sources and computers, two black and white digital CCD cameras are installed above the synchronous operation jacking system, the black and white digital CCD cameras are installed on the base, the parameters of the two black and white digital CCD cameras are the same, and their imaging surfaces are located at On the same plane, the optical axes are parallel, and the optical centers are located on the same straight line. An auxiliary light source is installed near each black and white digital CCD camera; multiple artificial marker points are divided into two groups, and one group is installed on the base table of the jacking system , this group of artificial marker points is greater than or equal to three, and the other group is installed on the surface of each jacking shaft of the jacking system. The black and white digital CCD camera is connected to the converter through the data line, and the converter is connected to the computer. The black and white digital CCD camera The lens is an object-space telecentric lens; two black-and-white digital CCD cameras continuously collect images of artificial landmarks and transmit them to the computer, which analyzes and processes the image information. the

The present invention also has the following features:

A kind of synchronous operation jacking system multi-axis synchronous operation binocular vision measurement method obtained by adopting a synchronous operation jacking system multi-axis synchronous operation binocular vision measurement device as described above is as follows:

(1) The artificial marker points installed on the base table are used to establish the plane equation of the base of the synchronous operation jacking system in the world coordinate system; the artificial marker points installed on the surface of each jacking shaft are used to To measure the movement displacement of each jacking axis, set the world coordinate system involved to coincide with the imaging plane coordinate system of a black and white digital CCD camera;

(2), two black-and-white digital CCD cameras collect images of artificial marker points in real time and continuously, and transmit them to the computer;

(3), the computer carries out feature extraction respectively to two images from two black-and-white digital CCD cameras, utilizes the sub-pixel positioning method to determine the coordinates of the artificial marker points in the two images respectively;

(4) Using the principle of binocular vision imaging, calculate the coordinates of each artificial marker point in the world coordinate system;

(5), using the principle of linear algebra, establish the plane equation of the base table in the world coordinate system;

(6) According to the plane equation of the base table and the position information of the artificial marker points on the surface of each jacking axis in the world coordinate system, the motion displacement data of each jacking axis relative to the base table is calculated by using the principle of linear algebra ;

(7) According to the position information of each artificial marker point on the jacking axis in the world coordinate system, the synchronous measurement error and verticality error of each axis of the synchronous operation jacking system are obtained according to the calculation decomposition. the

The basic working principle of the device is:

The digital images of the synchronous operation jacking system are collected by two cameras at the same time and transmitted to the computer for analysis and processing. The computer completes the processing of feature extraction and sub-pixel positioning for these marker points. Using the positioning information of the marker points, according to the principle of binocular vision imaging, the spatial coordinate information of each artificial marker point is calculated. Based on these information, the geometric relationship between each artificial marker point can be calculated by applying the linear calculation theory, and then the synchronization error and verticality error can be calculated. In this way, the non-contact, non-disturbance and high-frequency measurement of the multi-axis synchronous jacking process of the synchronous operation jacking system is realized. the

The synchronous operation jacking system measurement device and specific measurement method proposed by the present invention have the following advantages:

(1), the present invention adopts non-contact visual measurement, and the synchronous operation measurement process will not interfere with the movement of each jacking shaft of the jacking system;

(2), the visual measurement technology involved in the present invention can detect the synchronous operation accuracy of each jacking shaft of the synchronous operation jacking system;

(3), the visual measurement technology involved in the present invention can detect the verticality error of each jacking axis of the synchronous operation jacking system;

(4), the present invention adopts black-and-white digital video camera to transmit data to computer through converter, has anti-jamming ability to the electromagnetic environment that synchronous jacking system works;

(5) The visual measurement technology involved in the present invention does not require online error calibration, and the calculation process is simple, high in precision and fast in speed. the

Description of drawings

Figure 1 is a front view of the composition of the multi-axis synchronous jacking measurement device of the synchronous operation jacking system;

Figure 2 is a top view of the synchronous operation jacking system;

Figure 3 is a schematic diagram of binocular vision imaging;

Fig. 4 is the schematic diagram of binocular vision three-dimensional coordinate measurement;

Figure 5 is a schematic diagram of the calculation principle of the base plane equation of the synchronous operation jacking system;

Figure 6 is a schematic diagram of the displacement measurement of the jacking shaft of the synchronous operation jacking system;

Fig. 7 is a multi-axis synchronous jacking measurement flow chart of the synchronous operation jacking system;

Figure 8 is a flow chart of the image processing module. the

Detailed ways

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

Example 1

Referring to Fig. 1, device of the present invention is mainly made up of following parts: the first black-and-white digital CCD camera 101, the second black-and-white digital CCD camera 103, the first lens 102, the second lens 104, the first camera base 105, the second camera Base 106, first artificial light source 201, second artificial light source 202, base table top 301, jacking shaft 302, motor and driving device 303, base 304, artificial marker point 305, artificial marker point 306, converter 4, computer 5 and control cabinet 6. Two black-and-white digital CCD cameras 101.103 are installed on the first and second camera bases 105.106 respectively. The parameters of the two black-and-white digital CCD cameras are the same, and their imaging surfaces are located on the same plane, their optical axes are parallel, and their optical centers are located on the same straight line. , an artificial light source is installed near each black-and-white digital CCD camera; multiple artificial marker points are installed on different positions of the synchronous jacking system, and the black-and-white digital CCD camera is connected with the converter through the data line, and the converter is connected with the computer, and the anti- Interference, the black and white digital CCD camera lens is an object-space telecentric lens; two black and white digital CCD cameras continuously collect images of artificial landmarks and transmit them to the computer, which analyzes and processes the image information. the

The camera selects a black-and-white digital CCD camera, and uses a converter 4 to connect with a computer 5 for anti-jamming. the

The first lens 102 and the second lens 104 are object-space telecentric lenses. the

Artificial light sources provide constant, reliable illumination for image acquisition. the

The present invention utilizes binocular cameras to collect images of artificial marker points, and utilizes binocular vision measurement principles to measure the synchronicity and verticality of each jacking axis of a synchronous operation jacking system. The schematic diagram of the main flow chart is shown in Figure 7, mainly including the following main steps:

(1) Two cameras are calibrated to determine the internal parameters of the cameras;

(2) Two cameras are installed in parallel on the camera base, the optical axes of the cameras are required to be parallel, the optical centers are on a straight line, the imaging surface is on a plane, and the straight-line distance between the two optical centers is B, as shown in Figure 3;

(3) Set the world coordinate system involved in the measurement process of the synchronous operation jacking system to coincide with the imaging surface coordinate system of a camera. In the world coordinate system, each artificial marker point has a unique three-dimensional coordinate;

(4) Install a group of artificial marker points on the base table, the function is to establish the plane equation of the base table in the world coordinate system for the synchronous operation of the jacking system;

(5) Install another artificial marker point on the surface of each shaft to measure the movement displacement of each jacking shaft;

(6) The image processing program performs feature extraction on the two images from the two cameras, and then uses the sub-pixel positioning technology to determine the coordinates of the artificial marker points in the two images respectively. For related algorithms, please refer to the book "Image-Based Precision Measurement and Motion Measurement" by Yu Qifeng et al., published by Science Press, the first edition in July 2002; the flow chart of the image processing module is shown in Figure 8;

(7) Using the principle of binocular vision imaging, calculate the coordinates of each artificial marker point in the world coordinate system;

(8) Using the principle of linear algebra, establish the plane equation of the base table in the world coordinate system;

(9) According to the plane equation of the base table and the position information of each artificial marker point on the axis in the world coordinate system, the motion displacement data of each jacking axis relative to the base table is calculated by using the principle of linear algebra;

(10) For the calculation result of step 9, decompose and obtain the synchronous measurement error and verticality error of each axis of the synchronous operation jacking system;

Example 2

As shown in Figure 3, the following coordinate systems are involved:

(1) World coordinate system O _w x _w y _w z _w ;

(2) the image pixel coordinate system O'x'y' of the first black-and-white digital CCD camera 101 imaging surface;

(3) the image physical coordinate system Oxy of the second black-and-white digital CCD camera 103 imaging surfaces;

(4) The plane O _w x _w y _w coincides with the plane O'x'y', and the z _w axis coincides with the optical axis.

The binocular vision measurement process of the synchronous operation jacking system described in the present invention:

1. The basic principle of binocular vision measurement

Binocular vision imaging can obtain two different images of the same scene, and the system model of binocular imaging can be regarded as a combination of two monocular imaging systems. As shown in Figure 3, it is assumed that the world coordinate system coincides with the camera coordinates of the first camera, and the image points formed by the object points on the imaging planes of the two cameras are (x ₁ , y ₁ ), (x ₂ , y ₂ ), the distance between the lens centers of the two cameras is called the baseline B of the binocular vision system, and the world coordinate system coordinates of a certain point W in three-dimensional space can be determined by using the binocular vision imaging system.

According to the principle of geometric similarity, as shown in Figure 4, the _xw axis coordinates of a point in the three-dimensional space W( _xw , _yw , _zw ) in the world coordinate system can be expressed as

$\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}}{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

$\frac{<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; f</span>}}{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Among them, f represents the imaging distance. From (1), (2) can be solved,

${\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; B</span>}}{\mathrm{<span\; class="notranslate">\; D.</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Among them, D=x ₂ −x ₁ .

The coordinates of the object point W on the world coordinate system x _w axis and y _w axis are calculated as

${\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

in the same way

${\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

From (3), (4) and (5), through the imaging parallax of the three-dimensional space point in the two cameras, the three-dimensional coordinates of the space point W in the world coordinate system O _w x _w y _w z _w can be obtained.

2. Establish the plane equation of the base table

As shown in Figure 5, the three artificial marker points 306 on the base in Figure 1 are denoted as M ₁ , M ₂ , M ₃ respectively, and their coordinates in the world coordinate system O _w x _w y _w z _w are ( x _{w, 1} , y _{w, 1} , z _{w, 1} ), (x _{w, 2} , y _{w, 2} , z _{w, 2} ) and (x _{w, 3} , y _{w, 3,} , z _{w, 3} ) .

Then you can get the vector $\stackrel{\&Right\; Arrow;}{m_1{m}_2}=(x_{w,2}-x_{w,1},{\mathrm{the\; y}}_{w,2}-{\mathrm{the\; y}}_{w,1},z_{w,2}-z_{w,1}),$

$\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>$

和

组成的平面方程为：  Then the vector

and

The composed plane equation is:

a(xw _- xw _{, 1} )+b( _{yw- yw, 1} )+c( _zw - _{zw, 1} )=0, (6)

in,

a=(u ₂ v ₃ ,-u ₃ v ₂ ), b=(u ₃ v ₁ ,-u ₁ v ₃ ), c=(u ₁ v ₂ ,-u ₂ v ₁ )

u ₁ = x _{w, 2} - x _{w, 1} , u ₂ = y _{w, 2} - y _{w, 1} , u ₂ = z _{w, 2} - z _{w, 1} (7)

v ₁ = x _{w, 3} - x _{w, 1} , v ₂ = y _{w, 3} - y _{w, 1} , v ₂ = u ₂ = z _{w, 3 -} z _{w, 1}

3. The principle of distance measurement between the artificial mark point of each jacking axis and the plane of the base

设Q=(x₀，y₀，z₀)为基座平面上任意一点，P_i＝(x_i，y_i，z_i)为第i根轴上人工标志点的坐标，

为向量 

在法线

方向上的投影向量，则D为P_i=(x_i，y_i，z_i)与基座平面的距离，如  From the formula (6), it can be known that the normal vector of the base plane is

Let Q=(x ₀ , y ₀ , z ₀ ) be any point on the base plane, P _i =(x _i , y _i , z _i ) be the coordinates of the artificial marker point on the i-th axis,

as a vector

in normal

The projection vector in the direction, then D is the distance between P _i =(x _i , y _i , zi ₎ and the base plane, such as

$\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; proj</span>}}_{\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}}^{\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; QP</span>}}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\frac{{\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; QP</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}}{<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; a</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; b</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; )</span>}{\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; c</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

3. Vertical error measurement

表示，则第i根轴的与法线

之间的角度为  Assuming that at the kth moment, the coordinates of the artificial marker point on the i-th axis are P _{i, k} , and at the k-1th moment, the coordinates of the artificial marker point are P _{i, k-1} , then the artificial marker point starts from k-1 The motion trajectory during the period from time to kth time can be used as vector

means, then the i-th axis and normal

The angle between

${\mathrm{\&theta;}}_k={\sin }^{-1}\left(\frac{\stackrel{\&Right\; Arrow;}{P_{i,k}{P}_{i,k-1}}\&CircleTimes;\stackrel{\&Right\; Arrow;}{\mathrm{no}}}{\left|\right|\stackrel{\&Right\; Arrow;}{P_{i,k}{P}_{i,k-1}}\left|\right|}\right)---\left(9\right)$ .

Claims (2)

1. a synchronous operation jack-up system multi-axial Simultaneous moves binocular vision measurement mechanism, comprise synchronous operation jack-up system, it is characterized in that: also comprise two black and white digital CCD video cameras and pedestal thereof, a plurality of artificial targets, two secondary light sources and computing machine, two black and white digital CCD video cameras are installed above synchronous operation jack-up system, black and white digital CCD video camera is arranged on pedestal, two black and white digital CCD camera parameters are identical, and their imaging surface is in the same plane, optical axis is parallel, photocentre is located along the same line, each black and white digital CCD video camera is attached with a secondary light source, a plurality of artificial targets are divided into two groups, on the pedestal table top that a group is arranged on jack-up system, this group artificial target is more than or equal to three, another group is arranged on the surface of each jacking axle of jack-up system, black and white digital CCD video camera is connected with converter by data line, converter is connected with computing machine, and the camera lens of black and white digital CCD video camera is object space telecentric lens, two black and white digital CCD video camera continuous acquisition artificial targets' image is also transferred to computing machine, and computing machine is analyzed image information and process.

2. a kind of synchronous operation jack-up system multi-axial Simultaneous operation binocular vision measuring method that a kind of synchronous operation jack-up system multi-axial Simultaneous operation binocular vision measurement mechanism according to claim 1 draws, is characterized in that, method is as follows:

(1), be arranged on the artificial target on pedestal table top, for setting up the pedestal of synchronous operation jack-up system at the plane equation of world coordinate system; Be arranged on the lip-deep artificial target of each jacking axle, be used for measuring the moving displacement of each jacking axle, set related world coordinate system and overlap with the imaging surface coordinate system of a black and white digital CCD video camera;

(2), two black and white digital CCD video cameras gather in real time, continuously artificial target's image, and transfer to computing machine;

(3), computing machine carries out respectively feature extraction to the two width images from two black and white digital CCD video cameras, utilizes sub-pixel positioning method to determine artificial target's coordinate in two width images respectively;

(4), utilize binocular vision image-forming principle, calculate the coordinate of each artificial target in world coordinate system;

(5), utilize linear algebra principle, set up the plane equation of pedestal table top in world coordinate system;

(6), for the positional information of artificial target in world coordinate system on the plane equation of pedestal table top and the surface of each jacking axle, utilize linear algebra principle, calculate the moving displacement data of the relative pedestal table top of each jacking axle;

(7), according to the positional information of each artificial target in world coordinate system on jacking axle, according to calculate decomposing, obtain synchronous operation jack-up system each axle operation synchro measure error and error of perpendicularity.

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