CN105157680A - Vision measurement system and method based on combination of global feature and local feature - Google Patents
Vision measurement system and method based on combination of global feature and local feature Download PDFInfo
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- CN105157680A CN105157680A CN201510543837.5A CN201510543837A CN105157680A CN 105157680 A CN105157680 A CN 105157680A CN 201510543837 A CN201510543837 A CN 201510543837A CN 105157680 A CN105157680 A CN 105157680A
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The invention relates to a vision measurement system and method based on combination of global feature and local feature. The vision measurement system comprises a platform type binocular camera, a mechanical arm, a mechanical arm hand-eye camera and an on-board computer. The platform type binocular camera is mounted at a permanent position of a satellite body; the mechanical arm hand-eye camera is mounted at the front end of the mechanical arm, and is fixed to a permanent position of the satellite body before the mechanical arm is unfolded; and a diffuse-reflection cooperative target point is adhered to the back end of the mechanical arm hand-eye camera. Besides, the on-board computer is mounted on the satellite body and capable of controlling movement of the satellite body, is connected with the platform type binocular camera and the mechanical arm hand-eye camera through electronic circuits, and is connected with the mechanic arm through an electronic circuit so as to control movement of the mechanical arm. The vision measurement system and method can cover working distance no matter the distance is far, near or super-near, thereby realizing high-precision vision measurement to non-cooperative satellite targets.
Description
Technical field
The present invention relates to a kind of vision measurement system and measuring method, be particularly useful for position and the Attitude Calculation of non-cooperation Satellite Targets.
Background technology
Space non-cooperative Satellite Targets close to and arrest the very high stability of needs and accuracy, close to time need operating distance far away sensor, then need the sensor of super close distance work when arresting.Two kinds of traditional sensors mode that works alone is subject to the impact of noncooperative target feature instability, and each sensor can not provide high-precision measured value, is also difficult to cover far and near and super nearly all working distance simultaneously.
" relative pose of non-cooperative Spacecraft is measured " (optical precision engineering, 7 phases in 2009) propose pose (position and attitude) measuring method based on stereoscopic vision, for following the tracks of noncooperative target, close to providing measurement data support, and the method proposing zoom camera carrys out enlarge measurement range.But because the focal length value of zoom camera changes greatly, the stability measuring camera is had a significant impact, reduces the precision of measurement.
Chinese patent CN102538793A name is called that a kind of Double-base-line non-cooperative target binocular measurement system adopts long-short baselines binocular camera to cover the far and near distance scope in measured region respectively, uses different binocular cameras to provide measurement data under different distance.Because the operating distance of often pair of binocular camera is different, be all subject to the impact of target property when working alone, the precision of the measured value of two pairs of binocular camera outputs is all lower.
Chinese patent CN102914262A name is called that a kind of noncooperative target based on additional sighting distance presses close to measuring method, uses the method for laser ranging to carry out auxiliary Binocular vision photogrammetry mode, improves the precision of binocular vision.But when different distance works, binocular vision is subject to the impact of self visual field and focal length, can not all export high-precision measurement data in all distances.
Accurate measured value is stablized under the close operating distance different with arresting needs of space non-cooperative target, method described in above patent all continues to use the method that multiple sensor works alone, there is provided high-precision data while being difficult to cover all working distance, the demand that noncooperative target is measured can not be met.
Summary of the invention
Technology of the present invention solves as problem is: overcome the deficiencies in the prior art, the vision measurement system providing a kind of global characteristics to be combined with local feature and measuring method, covers far and near super nearly operating distance, realizes the high-precision vision measurement towards noncooperative target.
Technical solution of the present invention is: the vision measurement system that a kind of global characteristics is combined with local feature, comprises platform binocular camera, mechanical arm, mechanical arm trick camera, spaceborne computer.Platform binocular camera is arranged on the fixed position of satellite body; Mechanical arm trick camera is arranged on mechanical arm front end, is fixed on the fixed position of satellite body when not launching; Mechanical arm root is arranged on the fixed position of satellite body.Diffuse reflection cooperative target monumented point is pasted in mechanical arm trick camera rear end.Spaceborne computer is arranged on satellite body, can control the motion of satellite body self.Spaceborne computer is connected with platform binocular camera, mechanical arm trick camera by electronic circuit, and simultaneously spaceborne computer is connected with mechanical arm by electronic circuit, can the motion of controller mechanical arm.
Described platform binocular camera is made up of two, left and right camera; Two the camera focus 18-25mm in left and right, visual field 30-60 degree (full filed); Two cameras in left and right are installed on a baseline at a distance of 0.6m-1m, and gathering angle in the camera of left and right is 10-14 degree.
Described mechanical arm trick binocular camera is made up of two, left and right camera; Two the camera focus 8-10mm in left and right, visual field 80-100 degree (full filed); Two cameras in left and right are installed on a baseline at a distance of 0.25m-0.3m, and gathering angle in the camera of left and right is 40-50 degree, and is arranged on mechanical arm front end.
The vision measuring method that global characteristics is combined with local feature, is characterized in that performing step is as follows:
(1) position under mutual coordinate system of platform binocular camera, mechanical arm, mechanical arm trick camera is demarcated, the position of cooperative target monumented point under mechanical arm trick camera coordinates system that mechanical arm trick camera rear end is pasted is demarcated;
(2), when working apart from non-cooperation more than Satellite Targets 1.8m (at a distance), platform binocular camera and the global characteristics of mechanical arm trick camera to non-cooperation Satellite Targets extract, and are transferred to spaceborne computer and carry out Attitude Calculation.Spaceborne computer controls satellite body and carries out close to non-cooperation Satellite Targets after calculating position and attitude data;
(3) apart between non-cooperation Satellite Targets 1.8m to 1.2m (closely), the global characteristics of platform binocular camera to non-cooperation Satellite Targets identifies, the local feature of mechanical arm trick binocular to non-cooperation Satellite Targets identifies simultaneously, and recognition result is transferred to spaceborne computer by both; Spaceborne computer controls satellite body and carries out close to non-cooperation Satellite Targets after calculating position and attitude data;
(4) apart between non-cooperation Satellite Targets 1.2m to 0m (super close distance), mechanical arm trick camera is positioned at the visual field of platform binocular, the cooperative target monumented point of platform binocular camera to mechanical arm trick camera rear end identifies, is transferred to the position and attitude of spaceborne computer computing machine mechanical arm front end; The control information of self is transferred to spaceborne computer by mechanical arm simultaneously; The data that the data of mechanical arm and platform binocular calculate compare by spaceborne computer, run and demarcate, improve precision and the degree of stability of mechanical arm to each joint of mechanical arm;
(5) apart between non-cooperation Satellite Targets 1.2m to 0m, the global characteristics of platform binocular camera to non-cooperation Satellite Targets identifies, recognition result is transferred to spaceborne computer; Spaceborne computer calculate to control after position and attitude satellite body with non-cooperation Satellite Targets holding position and attitude; Mechanical arm is started working simultaneously, and extend and operate close to non-cooperation Satellite Targets, the local feature of mechanical arm trick camera to non-cooperation Satellite Targets identifies and be transferred to spaceborne computer; Spaceborne computer controls manipulator motion and arrests the specific objective on non-cooperation Satellite Targets after calculating relative position and attitude.
When non-cooperation more than the Satellite Targets 1.8m of distance in described step (2) works, the precision of platform binocular camera and mechanical arm trick binocular camera combined measurement reaches distance error is less than actual range 1%, within angular error 1 degree.
Described step (3) is apart from when working between non-cooperation Satellite Targets 1.8m to 1.2m, and the distance error of platform binocular camera and mechanical arm trick binocular camera combined measurement is less than 0.014m, within angular error 0.5 degree.
Described step (4) is apart from when working between non-cooperation Satellite Targets 1.2m to 0m, and platform binocular camera is used for timing signal measuring error and is less than 0.002m.
Cooperative target monumented point in described step (4) is diffuse reflection monumented point.
Characteristic target in described step (5) comprises satellite-rocket docking ring, jet pipe target.
The present invention compared with prior art beneficial effect is:
(1) compared to the prior art the measuring system of the present invention's design can cover far and near super each operating distance nearly, stable output metrical information.Platform binocular camera and mechanical arm trick binocular camera baseline that the present invention uses, visual field are different with focal length, can cover the operating distance that distance is different.Mechanical arm trick camera is positioned at mechanical arm front end in addition, and when mechanical arm launches, the scope of activities of mechanical arm trick camera increases, and can cover more operating distance.
(2) platform binocular and two the sensor collaborative works of mechanical arm trick binocular, export high-precision metrical information.When measuring system works, platform binocular and trick binocular for providing additional survey information each other, and due to both locus constant, directly can use the information that two sensors obtain during calculating, improve measure precision and stability.
(3) the present invention can demarcate each joint of mechanical arm in mechanical arm runs, and improves the precision of mechanical arm.
(4) compared to the prior art the present invention can the target strong to local feature symmetry identify.Relative to the binocular vision system that other work independently, the ambiguity that the mode that local feature and global characteristics combine can effectively avoid the symmetry of the circular feature such as butt joint ring, jet pipe on non-cooperation Satellite Targets to bring, eliminates mistake and the error of measurement data.
Accompanying drawing explanation
Fig. 1 is measuring system integral installation structural drawing of the present invention;
Fig. 2 is mechanical arm trick binocular cooperative target monumented point distribution plan in the present invention.
Embodiment
As shown in Figure 1, platform binocular camera 2 is arranged on the fixed position of satellite body 1; Mechanical arm trick camera 3 is arranged on mechanical arm 4 front end, and when mechanical arm 4 does not launch, mechanical arm trick camera 3 is fixed on the fixed position of satellite body; Mechanical arm 4 root is arranged on the fixed position of satellite body 1.Diffuse reflection cooperative target monumented point is pasted in mechanical arm trick camera 3 rear end.Spaceborne computer 5 is arranged on satellite body 1, can control the motion of satellite body 1 self.Spaceborne computer 5 is connected with platform binocular camera 2, mechanical arm trick camera 3 by electronic circuit 6,7; Spaceborne computer 5 is connected with mechanical arm 4 by electronic circuit 8, can the motion of controller mechanical arm 4.
The position under mutual coordinate system of platform binocular camera 2, mechanical arm 4, mechanical arm trick camera 3 is demarcated.The position of cooperative target monumented point 12 under mechanical arm trick camera 3 coordinate system that mechanical arm trick camera 3 rear end is pasted is demarcated.Platform binocular camera 2 coordinate origin is defined in the reference mirror on platform binocular camera 2 baseline; Mechanical arm 4 coordinate origin is defined in mechanical arm root; Mechanical arm trick camera 3 initial point is defined in the reference mirror on mechanical arm trick camera 3 baseline.
When working apart from non-cooperation more than Satellite Targets 1.8m (at a distance), platform binocular camera 2 and the global characteristics of mechanical arm trick camera 3 to non-cooperation Satellite Targets extract, and are transferred to spaceborne computer 5 by electronic circuit 6,7.Controlling satellite body 1 after spaceborne computer 5 carries out Attitude Calculation carries out close to non-cooperation Satellite Targets.
When working apart from (closely) between non-cooperation Satellite Targets 1.8m to 1.2m, the global characteristics of platform binocular camera 2 to non-cooperation Satellite Targets identifies, the local feature of mechanical arm trick binocular 3 to non-cooperation Satellite Targets identifies.The result of identification is transferred to spaceborne computer 5 by both.Spaceborne computer 5 carries out controlling satellite body 1 after position and attitude calculates and carries out close to non-cooperation Satellite Targets.
Apart from when between non-cooperation Satellite Targets 1.2m to 0m, (super close distance) works, mechanical arm trick camera 3 is positioned at the visual field of platform binocular 2, platform binocular can identify the cooperative target monumented point 12 of mechanical arm trick camera rear end, recognition result is transferred to spaceborne computer 5.Spaceborne computer 5 calculates position and attitude.Himself control data is sent to spaceborne computer 5 by mechanical arm 4 simultaneously.The data of the data of platform binocular 2 and mechanical arm 4 are compared rear each joint to mechanical arm 4 and run and demarcate by spaceborne computer 5, improve precision and the degree of stability of mechanical arm 4.
As shown in Figure 2, mechanical arm trick camera 3 (wherein: 9 is left camera, 10 is right camera) the cooperative target monumented point 12 of rear end is demarcate special diffuse reflection monumented point, the position of pasting is positioned on the fixed position of the both sides of mechanical arm sleeve 11, paste position is asymmetric, can not cause ambiguity in identifying.The three-dimensional position of all cooperative target monumented points is all prior to be demarcated on ground, and parameter is positioned in the list of computing module.
Apart from when between non-cooperation Satellite Targets 1.2m to 0m, (super close distance) works, the global characteristics of platform binocular camera 2 to non-cooperation Satellite Targets identifies, recognition result is transferred to spaceborne computer 5.Spaceborne computer 5 controls satellite body 1 and is keeping certain position and attitude with non-cooperation Satellite Targets after calculating position and attitude data.Mechanical arm 4 is started working simultaneously, and extend close to non-cooperation Satellite Targets and operate on it, the local feature of mechanical arm trick camera 3 to non-cooperation Satellite Targets identifies, recognition result is transferred to spaceborne computer 5.After spaceborne computer 5 calculates position and attitude data, controller mechanical arm 3 is arrested the specific objective (as targets such as satellite-rocket docking ring, jet pipes) on non-cooperation Satellite Targets.
The unexposed technology of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (9)
1. the vision measurement system that is combined with local feature of global characteristics, is characterized in that comprising: platform binocular camera, mechanical arm, mechanical arm trick camera, spaceborne computer; Platform binocular camera is arranged on the fixed position of satellite body; Mechanical arm trick camera is arranged on mechanical arm front end, and when mechanical arm does not launch, mechanical arm trick camera is fixed on the fixed position of satellite body; Mechanical arm root is arranged on the fixed position of satellite body; Diffuse reflection cooperative target monumented point is pasted in mechanical arm trick camera rear end; Spaceborne computer is arranged on satellite body, controls the motion of satellite body self; Spaceborne computer is connected with platform binocular camera, mechanical arm trick camera by electronic circuit, and spaceborne computer is connected with mechanical arm by electronic circuit simultaneously, the motion of controller mechanical arm.
2. the vision measurement system that is combined with local feature of global characteristics according to claim 1, is characterized in that: described platform binocular camera is made up of two, left and right camera; Left and right two camera focus 18-25mm, full filed 30-60 degree; Two cameras in left and right are installed on a baseline at a distance of 0.6m-1m, and gathering angle in the camera of left and right is 10-14 degree.
3. the vision measurement system that is combined with local feature of global characteristics according to claim 1, is characterized in that: described mechanical arm trick binocular camera is made up of two, left and right camera; Left and right two camera focus 8-10mm, full filed 80-100 degree; Two cameras in left and right are installed on a baseline at a distance of 0.25m-0.3m, and gathering angle in the camera of left and right is 40-50 degree, and is arranged on mechanical arm front end.
4. the vision measuring method that is combined with local feature of global characteristics, is characterized in that performing step is as follows:
(1) position under mutual coordinate system of platform binocular camera, mechanical arm, mechanical arm trick camera is demarcated, the position of cooperative target monumented point under mechanical arm trick camera coordinates system that mechanical arm trick camera rear end is pasted is demarcated;
(2), when working apart from non-cooperation more than Satellite Targets 1.8m, platform binocular camera and the global characteristics of mechanical arm trick camera to non-cooperation Satellite Targets extract, and are transferred to spaceborne computer and carry out Attitude Calculation.Spaceborne computer controls satellite body and carries out close to non-cooperation Satellite Targets after calculating position and attitude data;
(3) apart between non-cooperation Satellite Targets 1.8m to 1.2m, the global characteristics of platform binocular camera to non-cooperation Satellite Targets identifies, the local feature of mechanical arm trick binocular to non-cooperation Satellite Targets identifies simultaneously, and recognition result is transferred to spaceborne computer by both; Spaceborne computer controls satellite body and carries out close to non-cooperation Satellite Targets after calculating position and attitude data;
(4) apart between non-cooperation Satellite Targets 1.2m to 0m, mechanical arm trick camera is positioned at the visual field of platform binocular, the cooperative target monumented point of platform binocular camera to mechanical arm trick camera rear end identifies, is transferred to the position and attitude of spaceborne computer computing machine mechanical arm front end; The control information of self is transferred to spaceborne computer by mechanical arm simultaneously; The data that the data of mechanical arm and platform binocular calculate compare by spaceborne computer, run and demarcate, improve precision and the degree of stability of mechanical arm to each joint of mechanical arm;
(5) apart between non-cooperation Satellite Targets 1.2m to 0m, the global characteristics of platform binocular camera to non-cooperation Satellite Targets identifies, recognition result is transferred to spaceborne computer; Spaceborne computer calculate to control after position and attitude satellite body with non-cooperation Satellite Targets holding position and attitude; Mechanical arm is started working simultaneously, and extend and operate close to non-cooperation Satellite Targets, the local feature of mechanical arm trick camera to non-cooperation Satellite Targets identifies and be transferred to spaceborne computer; Spaceborne computer controls manipulator motion and arrests the specific objective on non-cooperation Satellite Targets after calculating relative position and attitude.
5. method according to claim 4, it is characterized in that: when non-cooperation more than the Satellite Targets 1.8m of the distance in described step (2) works, the precision of platform binocular camera and mechanical arm trick binocular camera combined measurement reaches distance error is less than actual range 1%, within angular error 1 degree.
6. method according to claim 4, it is characterized in that: described step (3) is apart from when working between non-cooperation Satellite Targets 1.8m to 1.2m, the distance error of platform binocular camera and mechanical arm trick binocular camera combined measurement is less than 0.014m, within angular error 0.5 degree.
7. method according to claim 4, is characterized in that: described step (4) is apart from when working between non-cooperation Satellite Targets 1.2m to 0m, and platform binocular camera is used for timing signal measuring error and is less than 0.002m.
8. method according to claim 4, is characterized in that: the cooperative target monumented point in described step (4) is diffuse reflection monumented point.
9. method according to claim 4, is characterized in that: the characteristic target in described step (5) comprises satellite-rocket docking ring, jet pipe target.
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Cited By (13)
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| CN105867435A (en) * | 2016-05-11 | 2016-08-17 | 西北工业大学 | Smooth and steady pointing maneuvering control method for satellite optical load |
| CN107421626A (en) * | 2017-07-18 | 2017-12-01 | 华南理工大学 | Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser |
| CN107478205A (en) * | 2017-09-01 | 2017-12-15 | 西北工业大学 | Aero-engine high accuracy assembly quality detector device people's system |
| CN107471218A (en) * | 2017-09-07 | 2017-12-15 | 南京理工大学 | A kind of tow-armed robot hand eye coordination method based on multi-vision visual |
| CN107817682A (en) * | 2017-10-20 | 2018-03-20 | 北京控制工程研究所 | A kind of space manipulator on-orbit calibration method and system based on trick camera |
| CN108492333A (en) * | 2018-03-30 | 2018-09-04 | 哈尔滨工业大学 | Spacecraft attitude method of estimation based on satellite-rocket docking ring image information |
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| CN109887041A (en) * | 2019-03-05 | 2019-06-14 | 中测国检（北京）测绘仪器检测中心 | A kind of method of mechanical arm control digital camera photo centre position and posture |
| CN110695993A (en) * | 2019-09-27 | 2020-01-17 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN111242159A (en) * | 2019-12-20 | 2020-06-05 | 广西柳州联耕科技有限公司 | Image recognition and robot automatic positioning method based on product characteristics |
| CN111854697A (en) * | 2020-06-22 | 2020-10-30 | 中国船舶重工集团公司第七一六研究所 | Recognition positioning attitude determination system based on visual sensor |
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| CN105867435A (en) * | 2016-05-11 | 2016-08-17 | 西北工业大学 | Smooth and steady pointing maneuvering control method for satellite optical load |
| CN107421626A (en) * | 2017-07-18 | 2017-12-01 | 华南理工大学 | Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser |
| CN107421626B (en) * | 2017-07-18 | 2023-03-21 | 华南理工大学 | Flexible arm space vibration characteristic analysis device and method based on multiple cameras |
| CN107478205A (en) * | 2017-09-01 | 2017-12-15 | 西北工业大学 | Aero-engine high accuracy assembly quality detector device people's system |
| CN107471218B (en) * | 2017-09-07 | 2020-09-11 | 南京理工大学 | Binocular vision-based hand-eye coordination method for double-arm robot |
| CN107471218A (en) * | 2017-09-07 | 2017-12-15 | 南京理工大学 | A kind of tow-armed robot hand eye coordination method based on multi-vision visual |
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| CN107817682A (en) * | 2017-10-20 | 2018-03-20 | 北京控制工程研究所 | A kind of space manipulator on-orbit calibration method and system based on trick camera |
| CN108492333A (en) * | 2018-03-30 | 2018-09-04 | 哈尔滨工业大学 | Spacecraft attitude method of estimation based on satellite-rocket docking ring image information |
| CN108492333B (en) * | 2018-03-30 | 2021-12-03 | 哈尔滨工业大学 | Spacecraft attitude estimation method based on satellite-rocket docking ring image information |
| CN109029257A (en) * | 2018-07-12 | 2018-12-18 | 中国科学院自动化研究所 | Based on stereoscopic vision and the large-scale workpiece pose measurement system of structure light vision, method |
| CN109029257B (en) * | 2018-07-12 | 2020-11-06 | 中国科学院自动化研究所 | Large-scale workpiece pose measurement system and method based on stereoscopic vision and structured light vision |
| CN109887041A (en) * | 2019-03-05 | 2019-06-14 | 中测国检（北京）测绘仪器检测中心 | A kind of method of mechanical arm control digital camera photo centre position and posture |
| CN110695993A (en) * | 2019-09-27 | 2020-01-17 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN110695993B (en) * | 2019-09-27 | 2021-02-02 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN111242159A (en) * | 2019-12-20 | 2020-06-05 | 广西柳州联耕科技有限公司 | Image recognition and robot automatic positioning method based on product characteristics |
| CN111242159B (en) * | 2019-12-20 | 2024-04-16 | 广西柳州联耕科技有限公司 | Image recognition and robot automatic positioning method based on product features |
| CN111854697A (en) * | 2020-06-22 | 2020-10-30 | 中国船舶重工集团公司第七一六研究所 | Recognition positioning attitude determination system based on visual sensor |
| CN112207804A (en) * | 2020-12-07 | 2021-01-12 | 国网瑞嘉(天津)智能机器人有限公司 | Live working robot and multi-sensor identification and positioning method |
| CN112767479A (en) * | 2021-01-13 | 2021-05-07 | 深圳瀚维智能医疗科技有限公司 | Position information detection method, device and system and computer readable storage medium |
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