CN116823937A - High-precision quick aiming method for plane horizontal point based on visual guidance - Google Patents
High-precision quick aiming method for plane horizontal point based on visual guidance Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a high-precision quick aiming method for an airplane horizontal point based on visual guidance, which belongs to the technical field of airplane horizontal measurement and comprises the following steps: aiming the aiming light spot near the plane horizontal point; acquiring a light spot center and a horizontal point center, and calculating pixel deviation of the light spot center and the horizontal point center according to the light spot center coordinate and the horizontal point center coordinate; the deflection angle is calculated by a conversion formula using the pixel deflection value. And judging whether the angle deflection is smaller than a threshold value or not, if so, indicating that the aiming is completed, if not, adjusting the angle of the equipment according to the deflection, and returning to repeat the steps until the aiming is completed after the adjustment is completed. The invention can aim the plane horizontal point with higher precision, which is improved by about one order of magnitude compared with the traditional manual contact mode, and has higher aiming speed and automation degree.
Description
Technical Field
The invention relates to the technical field of unified modeling of manufacturing resources, in particular to a high-precision quick aiming method for an aircraft horizontal point based on visual guidance.
Background
After the aircraft is assembled, the assembly quality of the aircraft needs to be checked to verify whether the appearance meets the design requirement. The aircraft level measurement is an important means of procedures such as aircraft important component installation precision, aircraft symmetry measurement and the like, can measure whether installation of all components of an aircraft is in place, and can reflect deformation of the appearance of the aircraft in aircraft reinspection. The traditional horizontal measuring points are punched points or specific rivets and the like which are punched on the surface of an airplane, and along with the wide application of the composite material and the coating of the fuselage structure of the airplane, the traditional horizontal point punching process is no longer suitable for the requirement of new materials, and the current horizontal point of the airplane is a red paint point for meeting the requirement of the new materials, and a certain horizontal point spraying pattern of the airplane is shown in the attached figure 1.
The digital measurement system applied to the plane level measurement at present mainly comprises a laser tracker measurement system, an iGPS measurement system, a laser radar measurement system, an industrial photogrammetry system and the like, and the existing digital measurement system can be divided into contact measurement and non-contact measurement, wherein the contact measurement mainly comprises the laser tracker measurement system, the iGPS measurement system and the industrial photogrammetry system, and the non-contact measurement mainly comprises the laser radar measurement system and the theodolite measurement system.
And (3) contact measurement, wherein the measurement is performed by a contact target ball or probe mode, and the placement position is the measurement target during measurement. The current horizontal point target has no mechanical structural characteristics, cannot be accurately placed on the center of the horizontal point, can cause a larger measurement error of 1-2 mm, and cannot meet the measurement requirement. When the iGPS measuring system measures, the target point can be measured only after manual aiming by an operator, and not only can a manual aiming error of 0.5-1 mm be introduced, but also the cost of measuring time is high, and the measuring time is usually more than 8 hours.
Disclosure of Invention
The invention aims to solve the problems of inaccurate horizontal center finding, low measurement efficiency and the like in the prior aircraft measurement, and provides a high-precision quick sighting method for an aircraft horizontal point based on visual guidance.
In order to achieve the above object, the present invention has the following technical scheme:
the high-precision quick aiming method for the plane horizontal point based on the visual guidance is characterized by comprising the following steps of:
s1, registering an aircraft coordinate system with a point projector coordinate system;
s2, acquiring a theoretical position of a horizontal measurement point from a digital model, and throwing a point throwing device according to the theoretical position;
s3, acquiring a light spot center M and a horizontal point center N;
step S4, according to the central coordinate M (X 0 ,Y 0 ) And a horizontal point center coordinate N (X 1 ,Y 1 ) Calculating pixel deviation of centers of the two;
s5, calculating a deflection angle by using a pixel deflection value through a conversion formula;
and S6, judging whether the angle deflection is smaller than a threshold value, if so, indicating that aiming is complete, otherwise, adjusting the angle of the equipment according to the deflection, and returning to repeat the steps S3-S6 until aiming is completed.
Further, in a specific embodiment, in step S6, determining whether the angular deflection is smaller than the threshold value includes: according to the adjusted position, calculating the distance d between the adjusted M' point and the horizontal point N, and if d is less than or equal to 1/2 gamma, indicating that the adjustment is in place; if d is more than 1/2 gamma, returning to repeat the steps S3-S6 to continue adjusting until the requirement is met; wherein γ is the turret resolution.
Further, in a specific embodiment, in step S1, registration of the aircraft coordinate system and the nodding apparatus coordinate system is achieved by 3 non-collinear horizontal measurement points:
P=RP´+T+Σ；
wherein P is 3 horizontal point coordinate matrixes under an aircraft coordinate system; p' is 3 horizontal point coordinate matrixes under the coordinate system of the point throwing device; r is a 3×3 rotation matrix, T is a 3×1 translation vector, and Σ is a residual error; and when the sigma is more than 0.5, the coordinate system registration is needed to be carried out by reselecting points so as to reduce the search range of the subsequent registration.
Further, in a specific embodiment, in step S5, the angular deflection is calculated by using a conversion formula using the pixel deflection value, where the conversion formula is as follows:
；
wherein ,、/>for the angular deflection to be solved, +.>、/>Pixel deviation values in x and y directions, S is the camera pixel size,/->Is the focal length of the camera.
Further, in one embodiment,、/>the calculation method comprises the following steps:
；
。
further, in a specific embodiment, in step S3, the acquiring the center of the light spot is: and (3) performing threshold segmentation processing on the image by using the image containing the light spot by using the single-point projector, and calculating the pixel coordinates of the center of the light spot by using a centroid method.
Further, in a specific embodiment, in step S3, the center of the acquired horizontal point is: and closing the projected light spot of the single-point projector, collecting an airplane horizontal point image, and extracting the central pixel coordinate of the horizontal point by using a template matching algorithm.
In summary, the invention has the following advantages:
1. experiments show that the method provided by the invention can aim the plane horizontal point with higher precision, which is about an order of magnitude higher than that of the traditional manual contact mode, and has higher aiming speed and automation degree.
2. By adopting the non-contact aiming mode, the damage to the surface of the airplane caused by the contact measurement mode can be avoided.
3. By adopting the non-contact aiming mode, the aircraft is horizontally measured, the measuring cost can be saved, and the aircraft horizontal measurement work can be completed by only 1 person.
4. The invention has high aiming precision and high measuring efficiency, does not need to be supported by a measuring tool, and can directly finish the horizontal measurement of the airplane.
Drawings
FIG. 1 is a schematic illustration of a certain aircraft horizontal spot spray pattern;
FIG. 2 is a schematic view of the position of the invention after initial aiming;
FIG. 3 is a schematic flow chart of a horizontal point sighting method;
in the figure:
1. measuring the theoretical position projected by a point projector and 2.
Detailed Description
The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto.
Example 1
Aiming at the problems of inaccurate horizontal point marking and low measurement efficiency in the horizontal measurement of an aircraft, the embodiment provides a high-precision quick aiming method for the horizontal point of the aircraft based on visual guidance, which is shown in fig. 3 and comprises the following steps:
s1, registering a coordinate system; registration of the aircraft coordinate system and the projector coordinate system is achieved through 3 non-collinear horizontal measurement points:
P=RP´+T+Σ；
wherein P is 3 horizontal point coordinate matrixes under an aircraft coordinate system; p' is 3 horizontal point coordinate matrixes under the coordinate system of the point throwing device; r is a 3×3 rotation matrix; t is a translation vector of 3 x 1; and when the sigma is more than 0.5, the points need to be reselected for coordinate system registration so as to reduce the search range of subsequent registration.
S2, aiming for the first time; and acquiring the theoretical position of the horizontal measurement point from the digital-analog, and throwing the point throwing device according to the theoretical position, wherein the theoretical measurement point and the actual horizontal measurement point have deviation after primary aiming.
S3, acquiring the spot center of the spot projector; the image containing the light spot is processed by threshold segmentation by using the single-point projector, and the pixel coordinate M (X) of the light spot center is calculated by using the centroid method 0 ,Y 0 ）。
S4, acquiring a horizontal point center; closing the projected light spot of the single-point projector, collecting the plane horizontal point image, and extracting the central pixel coordinate N (X 1 ,Y 1 ）。
S5, calculating a deflection angle; the deflection angle is calculated by a conversion formula using the pixel deflection value, the conversion formula being as follows:
；
wherein ,、/>for the angular deflection to be solved, +.>、/>Pixel deviation values in x and y directions, S is the camera pixel size,/->Is the focal length of the camera. />、/>The calculation method comprises the following steps:
；
；
s6, accurately adjusting; and adjusting the dotter according to the obtained angle deflection.
S7, judging an adjustment condition; calculating the distance d between the adjusted M' point and the horizontal point N according to the adjusted position, and if d is less than or equal to 1/2 gamma, indicating that the adjustment is in place; if d is more than 1/2 gamma, the steps S3-S6 are repeated to continue adjustment until the requirement is met. Where γ is turret resolution.
Example 2
The following describes the implementation steps of a high-precision fast sighting method for aircraft horizontal points based on visual guidance in combination with a practical case.
Carrying out plane horizontal measurement by using an industrial photographic system, wherein the focal length of a camera is 200mm, the pixel size of the camera is 5.5um, and the size of a measuring point in plane horizontal points is 2mm; the deflection angle threshold is 2 seconds, the aiming distance is about 5000mm, and the specific operation flow is as follows:
s1, registering a coordinate system; registration of the aircraft coordinate system and the projector coordinate system is achieved through 3 non-collinear horizontal measurement points:
P=RP´+T+Σ；
wherein P is 3 horizontal point coordinate matrixes under an aircraft coordinate system; p' is 3 horizontal point coordinate matrixes under the coordinate system of the point throwing device; r is a 3×3 rotation matrix, T is a 3×1 translation vector, Σ is a residual error. And when the sigma is more than 0.5, the coordinate system registration is needed to be carried out by reselecting points so as to reduce the search range of the subsequent registration.
S2, aiming for the first time; the theoretical position of a horizontal measuring point is obtained from a digital model, the point throwing device throws points according to the theoretical position, as shown in an attached drawing 2 of the specification, the inner diameter of a light spot of the horizontal measuring point is generally R8, the outer diameter of the light spot is R10, and the unit is mm; the theoretical measurement point and the actual horizontal measurement point have deviation after primary aiming.
S3, acquiring the spot center of the spot projector; the image containing the light spot is processed by threshold segmentation by using the single-point projector, and the pixel coordinate M (X) of the light spot center is calculated by using the centroid method 0 ,Y 0 ）。
S4, acquiring a horizontal point center; closing the projected light spot of the single-point projector, collecting the plane horizontal point image, and extracting the central pixel coordinate N (X 1 ,Y 1 ）。
S5, calculating a deflection angle; the deflection angle is calculated by a conversion formula using the pixel deflection value, the conversion formula being as follows:
；
wherein ,、/>for the angular deflection to be solved, +.>、/>Pixel deviation values in x and y directions, S is the camera pixel size,/->Is the focal length of the camera. />、/>The calculation method comprises the following steps: the method comprises the steps of carrying out a first treatment on the surface of the
；
；
S6, accurately adjusting; and adjusting the dotter according to the obtained angle deflection.
S7, judging an adjustment condition; according to the adjusted position, calculating the distance d between the adjusted M' point and the horizontal point N, and if d is less than or equal to 1/2 gamma, indicating that the adjustment is in place; if d is more than 1/2 gamma, the steps S3-S6 are repeated to continue adjustment until the requirement is met. Where γ is turret resolution.
The operating device was automatically aimed with an on-aim angle adjustment of 3 times, a finished post-deflection angle of 1.6 seconds, taking 20 seconds, and an aiming error of about 0.04mm.
Experiments show that the method provided by the invention can aim the plane horizontal point with higher precision, which is about an order of magnitude higher than that of the traditional manual contact mode, and has higher aiming speed and automation degree.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (7)
1. The high-precision quick aiming method for the plane horizontal point based on the visual guidance is characterized by comprising the following steps of:
s1, registering an aircraft coordinate system with a point projector coordinate system;
s2, acquiring a theoretical position of a horizontal measurement point from a digital model, and throwing a point throwing device according to the theoretical position;
s3, acquiring a light spot center M and a horizontal point center N;
step S4, according to the central coordinate M (X 0 ,Y 0 ) And a horizontal point center coordinate N (X 1 ,Y 1 ) Calculating pixel deviation of centers of the two;
s5, calculating a deflection angle by using a pixel deflection value through a conversion formula;
and S6, judging whether the angle deflection is smaller than a threshold value, if so, indicating that aiming is complete, otherwise, adjusting the angle of the equipment according to the deflection, and returning to repeat the steps S3-S6 until aiming is completed.
2. The method for high-precision and rapid sighting of an aircraft horizontal point based on visual guidance according to claim 1, wherein in step S6, determining whether the angle deflection is smaller than the threshold value comprises: according to the adjusted position, calculating the distance d between the adjusted M' point and the horizontal point N, and if d is less than or equal to 1/2 gamma, indicating that the adjustment is in place; if d is more than 1/2 gamma, returning to repeat the steps S3-S6 to continue adjusting until the requirement is met; wherein γ is the turret resolution.
3. The high-precision rapid sighting method of an aircraft horizontal point based on visual guidance according to claim 1, wherein in step S1, registration of an aircraft coordinate system and a projector coordinate system is achieved by 3 non-collinear horizontal measurement points:
P=RP´+T+Σ；
wherein P is 3 horizontal point coordinate matrixes under an aircraft coordinate system; p' is 3 horizontal point coordinate matrixes under the coordinate system of the point throwing device; r is a 3×3 rotation matrix, T is a 3×1 translation vector, and Σ is a residual error; the requirement that the sigma is less than or equal to 0.5 is satisfied,
when sigma > 0.5, the coordinate system registration is performed by reselecting points, so that the search range of the subsequent registration is reduced.
4. The method for high-precision and rapid aiming of an aircraft horizontal point based on visual guidance according to claim 1, wherein in step S5, the pixel deviation value is used to calculate the angle deviation value by a conversion formula, the conversion formula is as follows:
；
wherein ,、/>for the angular deflection to be solved, +.>、/>Pixel deviation values in x and y directions, S is the camera pixel size,/->Is the focal length of the camera.
5. The method for high-precision and rapid aiming of plane horizontal points based on visual guidance according to claim 4, wherein,、/>the calculation method comprises the following steps:
；
。
6. the method for high-precision and rapid aiming of an aircraft horizontal point based on visual guidance according to claim 1, wherein in step S3, the obtained spot center is: and (3) performing threshold segmentation processing on the image by using the image containing the light spot by using the single-point projector, and calculating the pixel coordinates of the center of the light spot by using a centroid method.
7. The method for high-precision and rapid aiming of an aircraft horizontal point based on visual guidance according to claim 1, wherein in step S3, the center of the acquired horizontal point is: and closing the projected light spot of the single-point projector, collecting an airplane horizontal point image, and extracting the central pixel coordinate of the horizontal point by using a template matching algorithm.
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