CN116249010A - Panoramic photographing device and method for rocket hull section assembly - Google Patents
Panoramic photographing device and method for rocket hull section assembly Download PDFInfo
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- CN116249010A CN116249010A CN202310106767.1A CN202310106767A CN116249010A CN 116249010 A CN116249010 A CN 116249010A CN 202310106767 A CN202310106767 A CN 202310106767A CN 116249010 A CN116249010 A CN 116249010A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N5/222—Studio circuitry; Studio devices; Studio equipment
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Abstract
The invention discloses a panoramic photographing device and a panoramic photographing method for rocket hull section assembly, wherein the panoramic photographing device is formed by matching a photographing module, a telescopic assembly, a rotating assembly and a control assembly, wherein the photographing module is arranged on the telescopic assembly, and the telescopic assembly can drive the photographing module to move back and forth in the vertical direction; the rotating component can drive the telescopic component to drive the camera module to rotate; the control assembly controls the telescopic assembly and/or the rotary assembly to act, drives the camera module to sequentially reach corresponding shooting stations, and controls the camera module to shoot at each shooting station; the control component performs image processing on all images shot by the shooting module, splices the images, and performs image geometry adjustment on image deviation generated by different angles and positions of the cameras to form panoramic images corresponding to the interior of the rocket hull section. The scheme provided by the invention can reduce the deformation of spliced images, reduce the parallax effect, eliminate splicing dislocation and effectively overcome the problems existing in the prior art.
Description
Technical Field
The invention relates to a component assembly quality detection technology, in particular to a video assembly quality detection technology.
Background
The huge cylindrical shell of the rocket is formed by sequentially assembling a plurality of cylindrical rocket shell segments. In order to ensure the reliability of the assembled rocket hull, the quality detection of the assembled rocket hull section is required from the inside.
Aiming at the special structure of the rocket hull section, in order to effectively complete detection, the existing scheme adopts a mode based on video detection. Because the interior of the rocket shell section is a closed space, 360-degree photographing is needed, and when the existing scheme is implemented, a common camera is generally adopted for photographing, and then the obtained photos are spliced.
Because the existing scheme is based on a common camera to take a picture of 360 degrees, and then splicing is carried out, image distortion is generated in the implementation process; furthermore, because parts with different distances between inner walls of the partial shell sections exist in the rocket shell sections, the problem of camera angle difference can be generated due to the fact that the prior art photographs based on common image segmentation, and therefore the problem of dislocation of image splicing marks is caused. This presents a number of problems for subsequent detection based on stitched images.
It can be seen that how to efficiently obtain undistorted panoramic images of the interior of a rocket hull section is a problem to be solved in the art.
Disclosure of Invention
Aiming at the problems of image distortion and misplacement of image stitching marks in the existing rocket hull section internal panoramic image acquisition scheme, the invention provides a panoramic photographing device for rocket hull section assembly; the second aspect provides a panoramic photographing method for rocket hull section assembly, thereby realizing panoramic photographing of the rocket hull section and enabling the photographed photos to fully develop the internal shape of the rocket hull section.
In order to achieve the aim, the panoramic photographing device for rocket hull section assembly provided by the invention comprises a photographing module, a telescopic component, a rotating component and a control component,
the camera module is arranged on the telescopic assembly, and the telescopic assembly can drive the camera module to move back and forth in the vertical direction;
the rotating assembly can drive the telescopic assembly to drive the camera module to rotate;
the control assembly is controlled to be connected with the camera module, the telescopic assembly and the rotating assembly, controls the telescopic assembly and/or the rotating assembly to act, drives the camera module to sequentially reach corresponding shooting stations, and controls the camera module to shoot at each shooting station; the control component performs image processing on all images shot by the camera module, splices the images, and performs image geometry adjustment on image deviation generated by different angles and positions of the cameras to form panoramic images corresponding to the interior of the rocket shell section.
Further, the telescopic assembly comprises a support frame, an electric cylinder support frame, a plurality of sections of telescopic electric cylinders and a detection probe; the electric cylinder support frame is arranged on the support frame, and the multi-section telescopic electric cylinder and the detection probe are arranged on the electric cylinder support frame in a matched mode.
Further, the rotating assembly comprises a speed reducer, a servo motor, a shell and a rotating platform, wherein the servo motor is in driving connection with the speed reducer to form a power assembly in the rotating assembly and is arranged in the shell; the driving end of the speed reducer extends out of the bottom of the shell and is used for being in driving connection with the rotary platform.
Further, the control assembly is mainly composed of a PLC and is arranged at the lower part of the rotating assembly.
In order to achieve the above object, the present invention provides a panoramic photographing method for rocket hull section assembly, the method comprising:
determining a first shooting station on a central shaft of the rocket hull section, and shooting a circle of inner wall of the rocket hull section in the circumferential direction at the first shooting station;
moving to a next shooting station along the central axis of the rocket hull section, and shooting a circle of rocket hull section inner wall along the circumferential direction at the shooting station;
until all internal forms of the rocket hull section are shot completely.
Further, in the photographing method, a vertical and narrow strip photographing mode is adopted to generate an elongated image.
In the photographing method, the original high-resolution image is segmented into a middle part by reducing the detection area of the camera, so that the photographing in a vertical and narrow strip shape is completed.
When the photographing method photographs the inner wall of the rocket shell section in the circumferential direction at the photographing station, firstly, after the photographing module rotates by a designated angle, a photographing instruction is sent to the photographing module, and the photographing module obtains an effective image corresponding to the inner area of the rocket shell section under the current station according to photographing;
then, after shooting is completed, controlling the shooting module to rotate a next appointed angle to shoot; and the camera module rotates back to the original position.
Furthermore, in the photographing method, all images generated by panoramic photographing on the inner wall of the rocket hull section are directly stored in an array form, and the images photographed by the same photographing station are proportioned according to sequence numbers.
Furthermore, the photographing method further comprises an image stitching step, when the images are stitched, harris corner points are determined for adjacent photos, then corner point matching is performed, and finally stitching is performed through image fusion.
Furthermore, when the photographing method is used for image stitching, the determined Harris angular points are insufficient, and geometric stitching of known rotation angles is performed through the confirmed rotation characteristics of the rotation device.
Furthermore, the photographing method adopts a SIFT mode to adjust parallax of the images when the images are spliced.
The scheme provided by the invention can realize seamless panorama undistorted splicing of the objects in the shell section, and meanwhile, the solution can be matched with the production rhythm.
When the scheme provided by the invention is specifically implemented, an innovative photographing method is adopted and is matched with a plurality of image fusion splicing modes for image splicing, so that the deformation of spliced images is reduced, the parallax effect is reduced, the splicing dislocation is eliminated, the production efficiency is increased, and the problems in the prior art are effectively overcome.
Drawings
The invention is further described below with reference to the drawings and the detailed description.
FIG. 1 is a diagram showing an example of the construction of a panoramic photographing apparatus for rocket hull section assembly in accordance with the present invention;
FIG. 2 is a diagram showing an example of the structure of a telescopic assembly according to an example of the present invention;
FIG. 3 is a diagram showing a combination of a camera module and a rotating assembly according to an embodiment of the present invention;
FIG. 4 is a diagram showing an example of the constitution of a rotary member in an example of the present invention;
FIG. 5 is an example of an angular point detector finding an angular point in an image to be registered in an example of the present invention;
fig. 6 is an exemplary diagram of image stitching in an example of the present invention.
Detailed Description
The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.
Aiming at the structural characteristic that the interior of the rocket hull section is a closed space, the invention provides the panoramic photographing device for rocket hull section assembly, and the panoramic photographing device can realize photographing of the panorama in the hull section without obvious deformation and splicing marks.
Referring to fig. 1 and 2, a panoramic photographing apparatus 100 for rocket hull section assembly according to the present example mainly includes a camera module 110, a telescopic assembly 120, a rotating assembly 130, and a control assembly 140.
The image capturing module 110 in the present apparatus is provided as a photographing body on the rotating assembly 130, and can perform 360 ° rotation in the circumferential direction and perform image capturing operation synchronously under the driving of the rotating assembly 130.
The rotating assembly 130 in the device is in driving connection with the camera module 110, and can drive the camera module 110 to rotate 360 degrees along the circumferential direction so as to reach different photographing stations in the circumferential direction.
Specifically, the rotation assembly 130 can drive the camera module 110 to continuously rotate along the circumferential direction, and can also perform positioning and directional rotation according to the angle and the direction.
Still further, the rotating assembly 130 in the device is further connected to the telescopic assembly 120, and can drive the camera module 110 to move back and forth in the vertical direction under the driving of the telescopic assembly 120.
The telescopic component 120 in the device is used for driving the rotating component 130 and the camera module 110 arranged on the rotating component to move back and forth in the vertical direction so as to drive the camera module to move to different shooting stations in the vertical direction.
The control component 140 in the device is used as a control center of the whole device, and is used for controlling and connecting the camera module 110, the telescopic component 120 and the rotating component 130, coordinating the mutual cooperation of the camera module 110, the telescopic component 120 and the rotating component 130, and completing panoramic shooting and processing of the inside of the rocket hull section.
The control component 140 controls the telescopic component 120 and/or the rotating component 130 to cooperatively act, drives the camera module 110 to sequentially reach corresponding shooting stations, and controls the camera module 110 to rotate for shooting at each shooting station; the control component 140 also performs image processing on all the images shot by the camera module 110, splices the images, and performs image geometry adjustment on image deviations generated by different angles and positions of the cameras to form panoramic images corresponding to the interior of the rocket hull section.
Referring to fig. 2, an exemplary configuration of the telescoping assembly 120 is shown as provided in this example.
Based on the illustration, the telescopic assembly 120 shown in the present example mainly comprises several components including a column 121, a beam 122, a cylinder bracket 123, a cylinder mounting bracket 124, a multi-section telescopic cylinder 125, and a detection probe 126.
Specifically, the upright post 121 and the cross beam 122 in the assembly cooperate to form a supporting frame structure for carrying other component parts. Preferably, two sets of upright posts 121 are symmetrically distributed in this example, and two ends of the beam 122 are respectively and fixedly connected with top ends of the two upright posts 121, thereby forming a gantry structure as a supporting frame structure.
The support frame structure formed in this way has a simple overall structure, and is stable and reliable; furthermore, the two upright posts are used as operable areas, so that the installation and the work of other components are facilitated.
The cylinder support 123 and the cylinder mounting support 124 in the assembly cooperate to form a cylinder support frame for accommodating a plurality of telescopic cylinders 125 and corresponding detection probes 126.
Preferably, two sets of electric cylinder brackets 123 are adopted in the example, the two sets of electric cylinder brackets 123 are relatively distributed at the lower part of the cross beam 122, one end of each electric cylinder bracket is connected with the cross beam 122, the other end of each electric cylinder bracket is connected with the electric cylinder mounting bracket 124, so that the electric cylinder mounting bracket 124 is horizontally distributed below the cross beam 122 for arranging a plurality of telescopic electric cylinders 125 and corresponding detection probes 126. Here, the two sets of electric cylinder brackets 123 are connected with the electric cylinder mounting bracket 124, so that the stability of the arrangement of the electric cylinder mounting bracket 124 is ensured.
On this basis, the multi-section telescopic electric cylinder 125 is fixedly arranged in the middle of the electric cylinder mounting bracket 124 and is connected with the control assembly 140, and the action end of the multi-section telescopic electric cylinder 125 can move in a telescopic manner in the vertical direction. The specific configuration of the multi-stage telescopic cylinder 125 is not limited, and may be determined according to actual requirements.
Further, the detecting probes 126 are distributed at two ends of the cylinder mounting bracket 124 and are connected with the control component 140, where the detecting probes 126 are used to obtain the state information of the multi-section telescopic cylinder 125 driving the rotating component 130 and the camera module 110 to move in real time, and feed back the obtained state information to the control component 140, and the control component 140 determines the state of the multi-section telescopic cylinder 125 driving the rotating component 130 and the camera module 110 to move according to the obtained state information, so as to control the working state of the multi-section telescopic cylinder 125.
The specific configuration of the detection probe 126 is not limited, and may be determined according to actual requirements.
Referring to fig. 3-4, an exemplary arrangement of the camera module 110 and the rotating assembly 130 is shown in this example.
The rotating assembly 130 mainly includes a speed reducer 131, a servo motor 132, a housing 133, and a rotating platform 134.
The housing 133 in the present rotary assembly 130 constitutes a main body frame structure of the entire rotary assembly 130 for accommodating the speed reducer 131, the servo motor 132, and the like. The specific configuration of the housing 133 is not limited, and may be determined according to actual requirements. Preferably, the housing 133 in this example adopts a hollow cylinder structure, the hollow cavity is used for accommodating the speed reducer 131, the servo motor 132 and other components, and the top is used for connecting with the multi-section telescopic cylinder 125 in the telescopic assembly 120.
The servo motor 132 in the rotary assembly 130 is in driving connection with the speed reducer 131 to form a power assembly in the rotary assembly 130 and is arranged in the shell 133; the driving end of the speed reducer 131 extends out of the bottom of the shell 133 and is used for driving and connecting with the rotary platform 134; the servo motor 132 is controlled by the control component 140, and can receive the instruction of the control component 140 to control the motion of the speed reducer 131.
The specific configurations of the servo motor 132 and the speed reducer 131 are not limited, and they can be determined according to actual requirements.
The rotary table 134 in the rotary unit 130 is disposed as a rotary motion member at the lower portion of the housing 133, and is connected to the drive end of the speed reducer 131, and is rotatable by the drive of the speed reducer 131. The rotating platform 134 is further configured to be connected to the camera module 110, and is configured to drive the camera module 110 to rotate in a circumferential direction.
The specific configuration of the rotary table 134 is not limited herein, and may be specifically determined according to actual requirements.
The camera module 110 in this example mainly includes a camera 111, a light source 112, and a connection bracket 113.
The connection bracket 113 in the present module serves as a bearing member for placing the camera 111 and the light source 112, and the connection bracket 113 is also connected to the rotating platform 134 in the rotating assembly 130, so that the rotation can be performed synchronously with the rotating platform 134.
The specific configuration of the connection bracket 113 is not limited, and may be determined according to actual requirements.
The camera 111 in the module is arranged on the connecting bracket 113 and is connected with the control component 140, the camera 111 is used for acquiring pictures of the rocket inner shell section corresponding to the corresponding working place in real time, feeding back the acquired state information to the control component 140, and carrying out synthesis and splicing processing by the control component 140.
The specific configuration of the camera 111 is not limited here, and may be determined according to actual requirements.
The light source 112 in the module is matched with the camera 111 and is arranged on the connecting bracket 113, so as to supplement light to the shooting area of the camera 111, thereby ensuring the quality of the pictures acquired by the camera 111.
Preferably, two groups of strip light sources 112 are adopted in the present example, and the two groups of strip light sources 112 are vertically and oppositely distributed at two sides of the camera 111 and face the shooting area of the camera 111, so that the generated illumination area can completely cover the shooting area of the camera 111 and no shadow is generated, thereby ensuring the quality of the pictures acquired by the camera 111.
The specific configuration of the inside of the light source 112 is not limited here, and may be determined according to actual requirements.
The control component 140 in this example is mainly composed of a corresponding PLC, HMI, and a panorama synthesis software system running inside the PLC.
The control component 140 is distributed at the lower part of the rotating component 130, is controlled by a PLC to connect the camera module 110, the telescopic component 120 and the rotating component 130 and coordinate the mutual cooperation of the camera module 110, the telescopic component 120 and the rotating component 130, the PLC finishes signal transmission, receiving and image address collecting and transmitting, and the panorama synthesis software system finishes image shooting and synthesis splicing.
The specific configuration of the PLC and HMI is not limited, and may be specifically determined according to actual needs. The configuration of the panoramic synthesizing software system will be further described later.
When the panoramic photographing device formed by the method is applied, the rocket shell section is placed in the working area of the panoramic photographing device, namely below the telescopic component 120, the cameras 111 (namely, the cameras) in the photographing modules in the device and the shell section are coaxially distributed, the control component 140 controls the telescopic component 120 to drive the rotating component 130 and the photographing modules 110 on the rotating component to move downwards and axially to the inside of the rocket shell section, the corresponding drawing station is achieved, 360-degree panoramic photographing is carried out on the rocket inner shell section, the photographed pictures can completely expand the internal shape of the rocket, and the possibility of image distortion caused by expansion is reduced.
Based on the panoramic photographing device provided by the embodiment, the embodiment further provides a panoramic photographing method for rocket hull section assembly.
When panoramic photographing is carried out on rocket hull section assembly based on a panoramic photographing device, certain coaxiality distribution is guaranteed between the telescopic component 120 and a rocket hull section central shaft to be photographed, the camera module 110 is sent to different areas in the rocket hull section through telescopic actions of the telescopic component, layered photographing is carried out on the rocket hull section, and enough resolution is guaranteed for each photographing area.
In this case, the control component 140 controls the telescopic component 120 to drive the rotating component 130 and the camera module 110 to move along the central axis of the rocket hull section integrally according to the shooting requirement, so as to reach the first shooting station; at that time, the rotating assembly is controlled to drive the camera module 110 to rotate for one circle at the first shooting station according to the set rotating speed, and the inner wall of the rocket shell section is synchronously shot for one circle in the rotating process; the camera module feeds back the rotated captured image to the control assembly 140.
After the rotary shooting at the first shooting station is completed, the rotary assembly 130 is controlled to stop working, and the telescopic assembly 120 is controlled to drive the rotary assembly 130 and the whole camera module 110 on the rotary assembly to continuously move along the central axis of the rocket shell section, so that the second shooting station is reached; at this time, the rotation assembly 130 is controlled to drive the camera module 110 to rotate for one circle at the second shooting station according to the set rotation speed, and the inner wall of the rocket shell section is synchronously shot for one circle in the rotation process; the camera module 110 feeds back the rotated captured image to the control assembly 140.
Thereby completing the rotary shooting of all shooting stations in turn until all internal forms of the rocket hull sections are shot completely.
After shooting is completed, the control component 140 performs image processing on all the images, splices the images, performs image geometry adjustment on image deviations generated by different angles and positions of the cameras, and finally obtains a panoramic image of the interior of the rocket hull section.
In the embodiment, when the panoramic photographing scheme is specifically implemented in the assembly of the rocket hull section, when each photographing station performs rotary photographing, the control component 140 preferably controls the rotary component 130 to rotate by a specified angle, after the rotary component 130 drives the photographing module 110 to rotate by the specified angle according to the instruction, the control component 140 sends a photographing instruction to photographing equipment (i.e. a camera) in the photographing module 110, and the photographing equipment obtains an effective image corresponding to the internal area of the rocket hull section under the current station according to photographing;
then, after shooting is completed, the control component 140 controls the rotating component 130 to rotate by the next designated angle, so as to shoot; one revolution of this is done to complete a revolution of the corresponding rocket hull section interior region at the current station, and the rotating assembly 130 rotates back to the original position.
For example, to facilitate subsequent stitching and improve image stitching quality, in this example, 72 images are preferably captured for one week of the interior region of the rocket hull section, with the camera module 110 returning to its position with the rotating assembly.
In this embodiment, it is preferable to use a vertical and narrow strip-shaped photographing in the specific photographing, so that the problem of cylindrical deformation in the large-area photographing is reduced.
Specifically, in this example, the photographing apparatus (i.e., camera) of the photographing module 110 is laterally mounted on the connection bracket 113 at 90 degrees and connected to the rotation assembly 130;
on the basis, shooting equipment (i.e. a camera) is further arranged, the detection area of the camera is reduced, and the original high-resolution image (such as 4096x2160 resolution) is segmented into a central part;
according to the camera principle, the closer to the middle, the minimum distortion is, and the more towards the edge, the greater the distortion is; the larger the distortion, the more serious the barrel shape deformation. Based on the above arrangement, the image pickup module 110 in the present embodiment employs a vertical narrow strip-like photographing to generate an elongated image, thereby reducing the problem of barrel shape deformation at the time of large-area photographing.
In this scheme when specifically shooting, adopt the camera to open window and carry the frame mode and shoot the image, can effectively solve the section of thick bamboo wall inside and take a picture in a large area and produce the distortion from this, cause the problem that unsmooth or sawtooth edge appear in image concatenation edge.
The windowing and frame-lifting means that on the premise of opening a camera frame rate optimization option, according to the camera principle, the maximum frame rate exceeds the maximum value listed by the detection area (namely the pixel number in the height direction) by shrinking the detection area, so that the frame rate of the camera is improved. Therefore, after the frame rate is improved, the acquisition speed of the image is improved, and the definition of the acquired image in motion is ensured.
Because the image is taken during the motion process, the camera needs to have a high enough frame rate to take the image without blurring. Meanwhile, the setting of the frame rate is influenced in the camera, such as automatic exposure/gain/automatic white balance, the maximum frame rate is reduced after the camera is started, the camera in the scheme is set, and the settings are forbidden; at the same time, based on enough auxiliary light sources 112 in the camera module 110, the camera fixed exposure value is further reduced; accordingly, the scheme adopts a camera windowing and frame lifting mode to shoot images, so that the frame rate is improved.
On the basis of the above scheme, in the panoramic shooting process, the problem of difficult splicing after the characteristics are not obvious in the shooting process of the shell segment part segmentation area is solved by realizing the organic cooperation of the telescopic movement work and the rotary movement work mode through the organic cooperation between the telescopic component 120 and the rotary component 130 in the panoramic shooting process.
In this example, the rotation assembly 130 drives the camera module 110 to rotate along the circumferential direction, so as to accurately adjust the image capturing station in the circumferential direction. At the same time, the rotation precision can be ensured based on the cooperation of the servo motor 132 and the speed reducer 131, namely, the rotation angles of the adjacent photographed images are almost the same, and under the condition that the image acquisition is stable, the proportion of the public parts of the adjacent images is the same.
According to the scheme, the rotation matrix is further calculated through the successfully matched characteristic points, information such as the rotation angle is obtained, the superposition proportion of adjacent images is obtained through calculation, and finally, the adjacent images are spliced according to line filling through offset in a geometric splicing mode.
On the basis of the panoramic shooting scheme, the panoramic shooting scheme is specifically realized by the following mode when all images shot in the panoramic are subjected to image processing and stitching.
Firstly, all images generated by panoramic shooting of the inner wall of the rocket hull section are completed for the camera module 110 in the moving work and the rotating moving work modes, and are directly stored in the control component 140 in an array form.
For stored images, images shot by the same layer (the same layer is the same drawing station in the vertical direction) are proportioned according to serial numbers, and elements of the proportioning comprise: selecting a feature space, similarity, a search space and a search strategy. As shown in fig. 5, an example is shown in which the corner detector finds the corner in the image to be registered.
Next, adjacent images are registered, here using feature-based image registration. Specifically, when image registration is performed here, the description and symbol characteristics of the most extracted image of the image content are derived through pixel values instead of directly using pixels of the image, the characteristics are used as matching templates, gray maximum values, boundary edge contours, edge points, edge line segments, tissue (texture) structures, angles, item points, inflection points, crossing points of a plurality of images to be registered are spliced through two-dimensional Gaussian blur filtering, low-level corresponding characteristic points of closed curves and high-level characteristics such as characteristic image relation diagrams are utilized, an equation set is constructed, the image registration is performed through conversion numbers obtained through numerical calculation, and then the matching positions of the two images are determined, so that the characteristic points, the characteristic lines and the like are spliced. Thus, the accuracy of image registration can be ensured to be improved, and the operation speed can be improved.
And then, eliminating the corner points with errors according to a search strategy.
Based on the above scheme, when the image stitching is performed, the method of the embodiment adopts the steps of firstly determining Harris corner points for adjacent photos, then performing corner point matching, and finally stitching through image fusion.
By way of example, harris corner points are determined in this example scenario by:
calculating a pixel value variation E (u, v) in the window when the window moves in both x and y directions; for each window, calculating a corresponding corner response function R; the function is then thresholded, if R > threshold, to indicate that the window corresponds to a corner feature.
In the embodiment, the RANSAC algorithm is used for carrying out corner matching, and a matching target is achieved by repeatedly selecting a group of random subsets in data, so that the matching target is spliced in a mode, and the rotation-invariant characteristic is achieved.
Further, in the embodiment, when image stitching is performed, if there are few image feature points and enough Harris corner points cannot be obtained, geometric stitching with known rotation angles is performed by using the rotation characteristics of the confirmed rotation device. Specifically, this scheme is through the servo motor of rotating assembly and the cooperation of speed reducer to guarantee to drive the module rotation angle precision of making a video recording for the rotation angle of the adjacent image of shooting of module is the same, on this basis, the rethread has been matched successfully feature point, calculates rotatory matrix, obtains information such as rotation angle then, utilizes the little unable image of matching of geometry concatenation mode concatenation feature point at last.
Further, when carrying out image concatenation, this example scheme adopts the SIFT mode to overcome and leads to the camera to appear shooting angle difference to the casing section internal pipeline that distributes in different shooting layers, floater because of the telescopic link is flexible and arouses parallax problem.
Specifically, as a plurality of parts are assembled in the rocket shell section, some parts cling to the inner wall of the shell section, and some parts are suspended; meanwhile, when the panoramic photographing device provided by the embodiment performs panoramic photographing (as shown in fig. 1), all the assembly parts in the shell section can be photographed under the condition that the telescopic rod moves up and down and rotates for layered photographing.
However, in the shooting process, when the object is hung in the air and is closer to the lens, the larger the volume of the object is, the more serious the image of the rear part of the part is blocked, and the parallax problem is formed.
In this case, the SIFT mode is adopted to overcome the problems during image stitching in the embodiment, and firstly, feature key points of the images are extracted through SIFT transformation and matched to obtain accurate matching points;
then, screening the matching points as key points for zero parallax adjustment;
and finally, calculating parallax values among the viewpoints according to the SIFT feature method matching points, and performing parallax adjustment on the images based on a parallax adjustment principle, so that the visual angle influence generated when the upper layer and the lower layer are spliced is effectively solved.
Taking the content shown in fig. 6 as an example, it can be seen from the content shown in fig. 6 that the corner lines of the left and right adjacent images are connected, and then the images are spliced together by using the matching positions between the images confirmed during feature matching.
Because the camera has parallax problem to the internal pipelines of the shell segments and floaters distributed in different shooting layers, when the upper layer image and the lower layer image are spliced and fused, the SIFT mode, namely the size-unchanged characteristic is used for splicing and fusion.
When panoramic photographing is carried out on rocket hull section assembly, the panoramic photographing device carries out layered rotary photographing on rocket hull sections based on the panoramic photographing control method and the image splicing method, adopts vertical narrow strip photographing, and simultaneously carries out Harris corner fusion splicing in a single-layer slender segmentation area under the assistance of servo mechanical rotation; meanwhile, the problem of parallax in the image splicing process caused by the space position difference of objects in the rocket hull section is effectively solved based on a SIFT (dimension invariant feature extraction) mode.
Because of conventional image stitching, the image of the entire camera is typically used and needs to be taken and stitched in a sufficiently open environment.
The present embodiment is directed to a rocket hull section inner wall, and the rocket hull section inner wall environment cannot meet the requirements. In this case, by means of the mechanical structure (i.e. the panoramic photographing device provided), as long as the cameras (i.e. the cameras) in the photographing module and the shell section are coaxially distributed, the images of a section of area in the vertical direction are intermittently photographed at that time, so that the front and rear images can have enough common areas, and points of interest (angular points) can be found in the common areas as well, and then the next splicing and fusion operation is performed.
Meanwhile, a video camera (namely a camera) extracts frames through windowing, so that a detection area is reduced, the frame rate is improved, and the definition of drawing in the rotation of a servo rotating mechanism (rotating assembly) is ensured. The servo motor driving mechanism drives the camera to rotate to take pictures, the image processing program arranges and matches the images, the corner detector is utilized to search the corner points of the adjacent images, then the connection relation between the edges of the broken objects at the two sides of the joint is obtained through the extraction and the matching of the dimension characteristic points along the joint direction, the images of the whole overlapping area are deformed according to the connection relation, the structural deviation is corrected, and the brightness between the input images is realized through the gradient domain fusion of the deformed image data. Finally, the internal forms of the shell sections are completely unfolded through combination of a plurality of splicing modes.
When the panoramic photographing scheme for rocket hull section assembly is applied, the panoramic photographing scheme can be matched with the existing production rhythm; meanwhile, the panoramic image formed by shooting can be used for completely unfolding the internal shape of the rocket, and the possibility of image distortion caused by unfolding is reduced.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (12)
1. A panoramic photographing device for rocket hull section assembly is characterized by comprising a photographing module, a telescopic component, a rotating component and a control component,
the camera module is arranged on the telescopic assembly, and the telescopic assembly can drive the camera module to move back and forth in the vertical direction;
the rotating assembly can drive the telescopic assembly to drive the camera module to rotate;
the control assembly is controlled to be connected with the camera module, the telescopic assembly and the rotating assembly, controls the telescopic assembly and/or the rotating assembly to act, drives the camera module to sequentially reach corresponding shooting stations, and controls the camera module to shoot at each shooting station; the control component performs image processing on all images shot by the camera module, splices the images, and performs image geometry adjustment on image deviation generated by different angles and positions of the cameras to form panoramic images corresponding to the interior of the rocket shell section.
2. A panoramic photographing apparatus for rocket hull section assembly as recited in claim 1, wherein said telescoping assembly comprises a support frame, a cylinder support frame, a multi-section telescoping cylinder, and a detection probe; the electric cylinder support frame is arranged on the support frame, and the multi-section telescopic electric cylinder and the detection probe are arranged on the electric cylinder support frame in a matched mode.
3. A panoramic photographing apparatus for rocket hull section assembly as recited in claim 1, wherein said rotary assembly includes a speed reducer, a servo motor, a housing and a rotary platform, said servo motor being drivingly connected to the speed reducer to form a power assembly in the rotary assembly and disposed within the housing; the driving end of the speed reducer extends out of the bottom of the shell and is used for being in driving connection with the rotary platform.
4. A panoramic photographing apparatus for rocket hull section assembly according to claim 1, wherein said control assembly is mainly composed of a PLC and is provided at a lower portion of the rotating assembly.
5. Panoramic photographing method for rocket hull section assembly, characterized in that the method comprises the following steps:
determining a first shooting station on a central shaft of the rocket hull section, and shooting a circle of inner wall of the rocket hull section in the circumferential direction at the first shooting station;
moving to a next shooting station along the central axis of the rocket hull section, and shooting a circle of rocket hull section inner wall along the circumferential direction at the shooting station;
until all internal forms of the rocket hull section are shot completely.
6. A panoramic photographing method for rocket hull section assembly according to claim 5, wherein said photographing method employs a vertical narrow strip photographing mode to generate an elongated image.
7. A panoramic photographing method for rocket hull section assembly according to claim 6 wherein said photographing method completes vertical and narrow strip photographing by reducing the camera detection area, segmenting the original high resolution image into intermediate portions.
8. The panoramic photographing method for rocket hull section assembly according to claim 5, wherein when photographing the inner wall of the rocket hull section in the circumferential direction at the photographing station, firstly, after rotating the photographing module by a designated angle, transmitting a photographing instruction to the photographing module, and obtaining an effective image corresponding to the inner area of the rocket hull section at the current station by the photographing module according to photographing;
then, after shooting is completed, controlling the shooting module to rotate a next appointed angle to shoot; and the camera module rotates back to the original position.
9. A panoramic photographing method for rocket hull section assembly according to claim 5, wherein all images generated by panoramic photographing of the inner wall of the rocket hull section are directly stored in an array form, and the images photographed by the same photographing station are proportioned according to serial numbers.
10. The panoramic photographing method for rocket hull section assembly according to claim 9, further comprising an image stitching step, wherein when the image stitching is performed, harris corner points are determined for adjacent photos, then corner point matching is performed, and finally stitching is performed through image fusion.
11. A panoramic photographing method for rocket hull section assembly according to claim 10, wherein said photographing method is characterized in that when image stitching is performed, the determined Harris corner point is insufficient, and geometric stitching of known rotation angle is performed by the confirmed rotation characteristics of the rotation device.
12. A panoramic photographing method for rocket hull section assembly according to claim 9, wherein the photographing method adopts a SIFT mode to adjust parallax of images when image stitching is carried out.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116684715A (en) * | 2023-07-31 | 2023-09-01 | 北京凌空天行科技有限责任公司 | Rocket image acquisition system and acquisition method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116684715A (en) * | 2023-07-31 | 2023-09-01 | 北京凌空天行科技有限责任公司 | Rocket image acquisition system and acquisition method |
| CN116684715B (en) * | 2023-07-31 | 2023-12-12 | 北京凌空天行科技有限责任公司 | Rocket image acquisition system and acquisition method |
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