CN105157680B - A kind of vision measurement system that global characteristics are combined with local feature and measurement method - Google Patents
A kind of vision measurement system that global characteristics are combined with local feature and measurement method Download PDFInfo
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- CN105157680B CN105157680B CN201510543837.5A CN201510543837A CN105157680B CN 105157680 B CN105157680 B CN 105157680B CN 201510543837 A CN201510543837 A CN 201510543837A CN 105157680 B CN105157680 B CN 105157680B
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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
Abstract
The vision measurement system and measurement method combined with local feature the present invention relates to a kind of global characteristics, including platform binocular camera, mechanical arm, mechanical arm trick camera, spaceborne computer.Platform binocular camera is mounted on the fixed position of satellite body；Mechanical arm trick camera is mounted on mechanical arm front end；Mechanical arm trick camera is fixed on the fixed position of satellite body when mechanical arm is not deployed；Mechanical arm roots are mounted on the fixed position of satellite body；Paste diffusing reflection cooperative target index point in mechanical arm trick camera rear end.Spaceborne computer is mounted on satellite body, can control the movement of satellite body itself.Spaceborne computer is connected by electronic circuit with platform binocular camera, mechanical arm trick camera；Spaceborne computer is connected by electronic circuit with mechanical arm, can be with the movement of control machinery arm.The present invention can cover far and near super nearly operating distance, realize the high-precision vision measurement towards non-cooperation Satellite Targets.
Description
Technical field
The present invention relates to a kind of vision measurement system and measurement method, be particularly suitable for non-cooperation Satellite Targets position and
Attitude Calculation.
Background technology
Approaching and arresting for space non-cooperative Satellite Targets needs very high stability and accuracy, and work is needed when close
The sensor of distance farther out, the sensor for then needing super close distance to work when arresting.Two kinds of traditional sensor autonomous working sides
Formula is influenced by noncooperative target feature is unstable, and each sensor cannot provide high-precision measured value, also be difficult to simultaneously
Covering distance and super nearly all working distance.
" relative pose of non-cooperative Spacecraft measures " (optical precision engineering, 7 phases in 2009) propose based on stereopsis
Pose (position and posture) measurement method of feel, for noncooperative target is supported into line trace, the close measurement data that provides, and carried
The method of zoom camera is gone out to expand measurement range.But since the focal length value of zoom camera changes greatly, for measuring camera
Stability have a significant impact, reduce the precision of measurement.
A kind of entitled Double-base-line non-cooperative target binocular measurement systems of Chinese patent CN102538793A use length base
Line binocular camera is covered each by the far and near distance range in measured region, is carried using different binocular cameras under different distance
For measurement data.Since the operating distance of each pair of binocular camera is different, when autonomous working, is all influenced by target property, two pairs
The precision of the measured value of binocular camera output is all relatively low.
A kind of entitled noncooperative targets based on additional sighting distance of Chinese patent CN102914262A make close to measurement method
Binocular vision photogrammetry mode is assisted with the method for laser ranging, improves the precision of binocular vision.But when different distance works,
Binocular vision is influenced by itself visual field and focal length, cannot all export high-precision measurement data apart from upper all.
Approaching and arresting for space non-cooperative target needs to stablize accurate measured value under different operating distances, above special
Method described in profit all continues to use the method that multiple sensors work independently, it is difficult to cover all working apart from while provide it is high-precision
The data of degree cannot meet the needs of noncooperative target measurement.
Invention content
The technology of the present invention solves the problems, such as to be yes：Overcome the deficiencies of the prior art and provide a kind of global characteristics and local spy
The vision measurement system combined and measurement method are levied, the far and near super nearly operating distance of covering is realized high-precision towards non-cooperative target
Target vision measurement.
Technical solution of the invention is：A kind of vision measurement system that global characteristics are combined with local feature, including
Platform binocular camera, mechanical arm, mechanical arm trick camera, spaceborne computer.Platform binocular camera is mounted on consolidating for satellite body
Positioning is set；Mechanical arm trick camera is mounted on mechanical arm front end, is fixed on the fixed position of satellite body when not deployed；Machine
Tool arm roots are mounted on the fixed position of satellite body.Paste diffusing reflection cooperative target mark in mechanical arm trick camera rear end
Point.Spaceborne computer is mounted on satellite body, can control the movement of satellite body itself.Spaceborne computer passes through electric wire
Road is connected with platform binocular camera, mechanical arm trick camera, while spaceborne computer is connected by electronic circuit with mechanical arm,
It can be with the movement of control machinery arm.
The platform binocular camera is made of two cameras in left and right；Left and right two camera focus 18-25mm, visual field 30-
60 degree (full fileds)；Two cameras in left and right are installed at a distance of 0.6m-1m on a baseline, and angle is gathered in the camera of left and right as 10-14 degree.
The mechanical arm trick binocular camera is made of two cameras in left and right；The two camera focus 8-10mm in left and right, visual field
80-100 degree (full filed)；Two cameras in left and right are installed at a distance of 0.25m-0.3m on a baseline, and gathering angle in the camera of left and right is
40-50 degree, and it is mounted on mechanical arm front end.
A kind of vision measuring method that global characteristics are combined with local feature, it is characterised in that realize that steps are as follows：
(1) to platform binocular camera, mechanical arm, mechanical arm trick camera the position under mutual coordinate system into rower
Calmly, position of the cooperative target index point of mechanical arm trick camera rear end stickup under mechanical arm trick camera coordinates system is carried out
Calibration；
(2) when work (remote) apart from non-cooperation Satellite Targets 1.8m or more, platform binocular camera and mechanical arm trick
Camera extracts the global characteristics of non-cooperation Satellite Targets, is transferred to spaceborne computer and carries out Attitude Calculation.Spaceborne calculating
Control satellite body is approached to non-cooperation Satellite Targets after position and attitude data are calculated in machine；
(3) between non-cooperation Satellite Targets 1.8m to 1.2m (short distance), platform binocular camera is to non-cooperation satellite
The global characteristics of target are identified, while the local feature of non-cooperation Satellite Targets is identified in mechanical arm trick binocular,
Recognition result is transferred to spaceborne computer by the two；Spaceborne computer be calculated after position and attitude data control satellite body to
Non- cooperation Satellite Targets are approached；
(4) between non-cooperation Satellite Targets 1.2m to 0m (super close distance), it is double that mechanical arm trick camera is located at platform
In purpose visual field, the cooperative target index point of mechanical arm trick camera rear end is identified in platform binocular camera, is transferred to star
Carry the position and attitude of computer calculating machine arm front end；The control information of itself is transferred to spaceborne computer by mechanical arm simultaneously；
Spaceborne computer compares the data that the data of mechanical arm and platform binocular are calculated, and is run to each joint of mechanical arm
It demarcates, improves the precision and stability of mechanical arm；
(5) between non-cooperation Satellite Targets 1.2m to 0m, the overall situation of the platform binocular camera to non-cooperation Satellite Targets
Feature is identified, and recognition result is transferred to spaceborne computer；Satellite body is controlled after the posture of spaceborne computer calculating position
With non-cooperation Satellite Targets holding position and posture；Mechanical arm is started to work simultaneously, is extended close to non-cooperation satellite mesh
Mark is operated, and mechanical arm trick camera is identified the local feature of non-cooperation Satellite Targets and is transferred to spaceborne calculating
Machine；The movement of control machinery arm is to the specific objective on non-cooperation Satellite Targets after relative position and attitude is calculated in spaceborne computer
It is arrested.
When the non-cooperation Satellite Targets 1.8m or more of distance in the step (2) works, platform binocular camera and mechanical arm
The precision of trick binocular camera combined measurement reaches 1% that range error is less than actual range, within 1 degree of angular error.
When the step (3) works between non-cooperation Satellite Targets 1.8m to 1.2m, platform binocular camera and machinery
The range error of arm trick binocular camera combined measurement is less than 0.014m, within 0.5 degree of angular error.
When the step (4) works between non-cooperation Satellite Targets 1.2m to 0m, platform binocular camera is for demarcating
When measurement error be less than 0.002m.
Cooperative target index point in the step (4) is diffusing reflection index point.
Characteristic target in the step (5) includes satellite-rocket docking ring, jet pipe target.
The present invention has the beneficial effect that compared with prior art：
(1) compared to the prior art the measuring system that the present invention designs can cover far and near super nearly each operating distance, surely
Fixed output metrical information.Platform binocular camera and mechanical arm trick binocular camera baseline that the present invention uses, visual field and focal length
Difference can cover far and near different operating distance.In addition mechanical arm trick camera is located at mechanical arm front end, when mechanical arm is unfolded
When, the scope of activities of mechanical arm trick camera increases, and can cover more operating distances.
(2) two sensors of platform binocular and mechanical arm trick binocular cooperate, and export high-precision metrical information.
When measuring system works, platform binocular and trick binocular are to provide each other with additional survey information, and due to the space bit of the two
The information constant, when calculating can directly be obtained using two sensors is set, the precision and stability of measurement is improved.
(3) present invention can demarcate each joint of mechanical arm in mechanical arm operation, improve the essence of mechanical arm
Degree.
(4) present invention compared to the prior art can the target strong to local feature symmetry be identified.Relative to it
The mode that the binocular vision system that he works independently, local feature and global characteristics combine is it is possible to prevente effectively from non-cooperation satellite mesh
The ambiguity that the symmetry of the circular features such as butt joint ring, jet pipe is brought is put on, the mistake and error of measurement data are eliminated.
Description of the drawings
Fig. 1 is measuring system integral installation structure chart of the present invention；
Fig. 2 is mechanical arm trick binocular cooperative target index point distribution map in the present invention.
Specific implementation mode
As shown in Figure 1, platform binocular camera 2 is mounted on the fixed position of satellite body 1；Mechanical arm trick camera 3 is pacified
Mounted in 4 front end of mechanical arm, mechanical arm trick camera 3 is fixed on the fixed position of satellite body when mechanical arm 4 is not deployed；Machinery
4 root of arm is mounted on the fixed position of satellite body 1.Paste diffusing reflection cooperative target mark in 3 rear end of mechanical arm trick camera
Point.Spaceborne computer 5 is mounted on satellite body 1, can control satellite body 1 movement of itself.Spaceborne computer 5 passes through electricity
Sub-line road 6,7 is connected with platform binocular camera 2, mechanical arm trick camera 3；Spaceborne computer 5 passes through electronic circuit 8 and machinery
Arm 4 is connected, can be with the movement of control machinery arm 4.
To platform binocular camera 2, mechanical arm 4, mechanical arm trick camera 3 the position under mutual coordinate system into rower
It is fixed.Position of the cooperative target index point 12 under 3 coordinate system of mechanical arm trick camera that 3 rear end of mechanical arm trick camera is pasted
It is demarcated.2 coordinate origin of platform binocular camera is defined on the reference mirror on 2 baseline of platform binocular camera；4 coordinate of mechanical arm
It is that origin is defined on mechanical arm roots；3 origin of mechanical arm trick camera is defined on the benchmark on 3 baseline of mechanical arm trick camera
Mirror.
When work (remote) apart from non-cooperation Satellite Targets 1.8m or more, platform binocular camera 2 and mechanical arm trick phase
Machine 3 extracts the global characteristics of non-cooperation Satellite Targets, and spaceborne computer 5 is transferred to by electronic circuit 6,7.Spaceborne meter
Control satellite body 1 is approached to non-cooperation Satellite Targets after calculation machine 5 carries out Attitude Calculation.
When (short distance) works between non-cooperation Satellite Targets 1.8m to 1.2m, platform binocular camera 2 is to non-cooperation
The global characteristics of Satellite Targets are identified, and the local feature of non-cooperation Satellite Targets is identified in mechanical arm trick binocular 3.
The result of identification is transferred to spaceborne computer 5 by the two.Spaceborne computer 5 controls satellite body 1 after carrying out position and attitude calculating
It is approached to non-cooperation Satellite Targets.
When (super close distance) works between non-cooperation Satellite Targets 1.2m to 0m, mechanical arm trick camera 3 is located at flat
In the visual field of platform binocular 2, the cooperative target index point 12 of mechanical arm trick camera rear end can be identified in platform binocular, will
Recognition result is transferred to spaceborne computer 5.5 calculating position of spaceborne computer and posture.Its own is controlled number by mechanical arm 4 simultaneously
According to being sent to spaceborne computer 5.Spaceborne computer 5 data of the data of platform binocular 2 and mechanical arm 4 are compared after to machinery
Each joint operation of arm 4 is demarcated, and the precision and stability of mechanical arm 4 are improved.
As shown in Fig. 2, mechanical arm trick camera 3 is (wherein：9 be left camera, 10 be right camera) rear end cooperative target mark
Will point 12 is to demarcate dedicated diffusing reflection index point, and the position of stickup is located on the fixed position of the both sides of mechanical arm sleeve 11,
Paste position is asymmetric, and ambiguity will not be caused in identification process.Three-dimensional position all things of all cooperative target index points
It is first demarcated on ground, and parameter is positioned in the list of computing module.
When (super close distance) works between non-cooperation Satellite Targets 1.2m to 0m, platform binocular camera 2 is to non-cooperation
The global characteristics of Satellite Targets are identified, and recognition result is transferred to spaceborne computer 5.Position is calculated in spaceborne computer 5
Control satellite body 1 is keeping certain position and posture with non-cooperation Satellite Targets after setting attitude data.Mechanical arm 4 is opened simultaneously
Beginning work is extended close to non-cooperation Satellite Targets and is operated on it, and mechanical arm trick camera 3 is to non-cooperation satellite mesh
Target local feature is identified, and recognition result is transferred to spaceborne computer 5.Position and attitude is calculated in spaceborne computer 5
Control machinery arm 3 grabs the specific objective (such as satellite-rocket docking ring, jet pipe target) on non-cooperation Satellite Targets after data
It catches.
The present invention is not disclosed technology and belongs to common sense well known to those skilled in the art.
Claims (5)
1. the vision measurement system that a kind of global characteristics are combined with local feature, it is characterised in that including：Platform binocular camera, machine
Tool arm, mechanical arm trick camera, spaceborne computer；Platform binocular camera is mounted on the fixed position of satellite body；Mechanical arm
Trick camera is mounted on mechanical arm front end, and mechanical arm trick camera is fixed on the fixed bit of satellite body when mechanical arm is not deployed
It sets；Mechanical arm roots are mounted on the fixed position of satellite body；Paste diffusing reflection cooperative target in mechanical arm trick camera rear end
Mark index point；Spaceborne computer is mounted on satellite body, controls the movement of satellite body itself；Spaceborne computer passes through electronics
Circuit is connected with platform binocular camera, mechanical arm trick camera, and mechanical arm trick camera is located in the visual field of platform binocular, puts down
The cooperative target index point of mechanical arm trick camera rear end is identified in platform binocular camera, is transferred to spaceborne computer computer
The position and attitude of tool arm front end；The global characteristics of non-cooperation Satellite Targets are identified in platform binocular camera, while mechanical arm
The local feature of non-cooperation Satellite Targets is identified in trick binocular, and recognition result is transferred to spaceborne computer, star by the two
It carries computer by electronic circuit to be connected with mechanical arm, the movement of control machinery arm；The platform binocular camera is by left and right two
Platform camera forms；The two camera focus 18-25mm in left and right, full filed 30-60 degree；Two cameras in left and right are installed at a distance of 0.6m-1m
In on a baseline, gather in the camera of left and right angle be 10-14 degree；The mechanical arm trick binocular camera is by the two phase units in left and right
At；The two camera focus 8-10mm in left and right, full filed 80-100 degree；Two cameras in left and right are installed on one at a distance of 0.25m-0.3m
On baseline, angle is gathered in the camera of left and right as 40-50 degree, and be mounted on mechanical arm front end.
2. the vision measuring method that a kind of global characteristics are combined with local feature, it is characterised in that realize that steps are as follows：
(1) position under mutual coordinate system of platform binocular camera, mechanical arm, mechanical arm trick camera is demarcated, it is right
Position of the cooperative target index point that mechanical arm trick camera rear end is pasted under mechanical arm trick camera coordinates system is demarcated；
(2) when working apart from non-cooperation Satellite Targets 1.8m or more, platform binocular camera and mechanical arm trick camera are to non-cooperation
The global characteristics of Satellite Targets extract, and are transferred to spaceborne computer and carry out Attitude Calculation, position is calculated in spaceborne computer
Control satellite body is approached to non-cooperation Satellite Targets after setting attitude data；
(3) between non-cooperation Satellite Targets 1.8m to 1.2m, platform binocular camera is special to the overall situation of non-cooperation Satellite Targets
Sign is identified, while the local feature of non-cooperation Satellite Targets is identified in mechanical arm trick binocular, and the two ties identification
Fruit is transferred to spaceborne computer；Spaceborne computer controls satellite body to non-cooperation satellite mesh after position and attitude data are calculated
Mark is approached；
(4) between non-cooperation Satellite Targets 1.2m to 0m, mechanical arm trick camera is located in the visual field of platform binocular, platform
The cooperative target index point of mechanical arm trick camera rear end is identified in binocular camera, is transferred to spaceborne computer calculating machine
The position and attitude of arm front end；The control information of itself is transferred to spaceborne computer by mechanical arm simultaneously；Spaceborne computer will be mechanical
The data that the data and platform binocular of arm are calculated compare, and are demarcated to each joint operation of mechanical arm, improve machinery
The precision and stability of arm；Cooperative target index point in the step (4) is diffusing reflection index point；
(5) between non-cooperation Satellite Targets 1.2m to 0m, global characteristics of the platform binocular camera to non-cooperation Satellite Targets
It is identified, recognition result is transferred to spaceborne computer；After the posture of spaceborne computer calculating position control satellite body with
Non- cooperation Satellite Targets holding position and posture；Simultaneously mechanical arm start to work, extend close to non-cooperation Satellite Targets into
Row operation, mechanical arm trick camera are identified the local feature of non-cooperation Satellite Targets and are transferred to spaceborne computer；Star
Control machinery arm movement after relative position and attitude is calculated in computer is carried to carry out the specific objective on non-cooperation Satellite Targets
It arrests；Characteristic target in the step (5) includes satellite-rocket docking ring, jet pipe target.
3. according to the method described in claim 2, it is characterized in that：The non-cooperation Satellite Targets of distance in the step (2)
When 1.8m or more works, the precision of platform binocular camera and mechanical arm trick binocular camera combined measurement reaches range error and is less than
The 1% of actual range, within 1 degree of angular error.
4. according to the method described in claim 2, it is characterized in that：The step (3) is arrived apart from non-cooperation Satellite Targets 1.8m
When working between 1.2m, the range error of platform binocular camera and mechanical arm trick binocular camera combined measurement is less than 0.014m,
Within 0.5 degree of angular error.
5. according to the method described in claim 2, it is characterized in that：The step (4) is arrived apart from non-cooperation Satellite Targets 1.2m
When working between 0m, platform binocular camera is less than 0.002m for measurement error when demarcating.
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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 |
| 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 |
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| 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 |
| CN107817682B (en) * | 2017-10-20 | 2021-02-09 | 北京控制工程研究所 | Space manipulator on-orbit calibration method and system based on hand-eye camera |
| 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 |
| 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 |
| CN109887041B (en) * | 2019-03-05 | 2020-11-20 | 中测国检（北京）测绘仪器检测中心 | Method for controlling position and posture of shooting center of digital camera by 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 |
| 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 |
| CN111854697B (en) * | 2020-06-22 | 2021-08-10 | 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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| CN102538793A (en) * | 2011-12-23 | 2012-07-04 | 北京控制工程研究所 | Double-base-line non-cooperative target binocular measurement system |
| CN103970032A (en) * | 2014-05-16 | 2014-08-06 | 中国人民解放军装备学院 | Satellite platform and mechanical arm cooperation simulator |
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