CN1877247A - Apparatus and method for measuring attitude angle of three-axis air-bearing table - Google Patents
Apparatus and method for measuring attitude angle of three-axis air-bearing table Download PDFInfo
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- CN1877247A CN1877247A CNA2006100102602A CN200610010260A CN1877247A CN 1877247 A CN1877247 A CN 1877247A CN A2006100102602 A CNA2006100102602 A CN A2006100102602A CN 200610010260 A CN200610010260 A CN 200610010260A CN 1877247 A CN1877247 A CN 1877247A
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Abstract
The invention provides a device and a method for measuring attitude angle of a three-axis air-bearing table. The three-axis air-bearing table has a cursor measuring system installed on its table-board, and has a CCD vidicon mounted with bracket above the table; the CCD vidicon is connected with an image collection card via data cable; the image collection card is installed in a computer which is equipped with a wireless transmission device. The inventive method comprises steps of employing a black-and-white CCD vidicon suite to collect images of measure cursor system composed by infrared light emitting diodes which are performed infrared filtering; employing the computer vision theory and combining with the distance information between cursor dots to be measured to calculate the relative motion parameters that the air-bearing table board relatives to the CCD vidicon; and realizing three-axis air-bearing table attitude angle measurement via continuously obtained image array without touch, disturbance and with large range and high frequency. The invention also can perform attitude angle measurement of single-axis air-bearing table or five-freedom air-bearing table.
Description
(1) technical field
The invention belongs to field of measuring technique, relate to a kind of noncontact of three-axis air-bearing table attitude angle, noiseless, high precision monocular vision measuring system.
(2) background technology
Utilize three-axis air-bearing table to realize the correctness that the satellite control system full physical simulation can the access control scheme Design, the function and the performance of check actual control system are important means and the methods in the satellite development process.
Key problem in the satellite control system full physical simulation implementation procedure is the attitude motion of analog satellite under the rail below-G conditions on the ground, the air film that three-axis air-bearing table relies on pressurized air to form between sphere air-bearing and bearing seat, produce acting force upwards, offset the gravity of table top, table top is floated, thereby utilize the glitch-free Satellite Attitude Movement of angular motion approximate simulation of table top.
Need in the attitude of satellite control process to feed back to the attitude control computer, calculate the back by analysis and form steering order, drive topworks and realize attitude of satellite control by the attitude sensor attitude information of a certain relatively coordinate system of instrumented satellite dynamically.Therefore be analog satellite attitude control procedure, need carry out the kinetic measurement of air floating table attitude angle, and the height of its measuring accuracy directly influenced the effect of satellite attitude control system physical simulation.Traditionally, usually utilize photoelectric code disk to measure the rigid body angular motion, because that this method has is simple in structure, measuring accuracy is high, fully digitalization etc. is subjected to extensive concern and application, also emerged in large numbers multiple photoelectric code disk product (Chinese patent application number: 200410086057.4 patent names: rotary encoder), but photoelectric code disk can only be used for the measurement of angle of single axle rotation, measures in the application in the angular motion of three-axis air-bearing table to have limitation.
Find by literature search, Chinese invention patent application number: 200410009083.7, patent name is: rigid space pose measuring apparatus and measuring method thereof, this patent adopt the stay-supported scrambler to realize a kind of low cost of contact, high-precision rigid space position and attitude ground measurement mechanism and measuring method.But because three-axis air-bearing table need provide a glitch-free environment for the satellite attitude control system physical simulation, so contact measuring apparatus and measuring method that this patent provides can't satisfy three-axis air-bearing table angular motion measurement demand.
The Li Jisu of the Zhang Xiaoyou of Harbin Institute of Technology, Liu's newly-risen sun and Beijing Control Engineering Inst. etc. has proposed the servo angle measuring system of a kind of three-axis air-bearing table single frame, this system installs one on the air floating table pedestal can be around the arc arms of air floating table center pedal line rotation, and transportable balladeur train is installed thereon, three attitude angle (Zhang Xiaoyou of the rotation by responsive arc arms and the traverse measurement air floating table of balladeur train, Liu's newly-risen sun, Li Jisu. the research of the servo angle measuring system of three-axis air-bearing table single frame. the aerospace journal. the 17th volume, the 4th phase, 1996, pp.71-74).But this system need increase complicated mechanical system and sensor system, and structure is too complicated.
(3) summary of the invention
The object of the present invention is to provide and a kind ofly can dynamically measure three attitude angle of three-axis air-bearing table and the attitude angle of measuring is fed back to control module on the three-axis air-bearing table table top, simple in structure, cost is low, precision is high, can not produce the attitude angle of three-axis air-bearing table device that disturbs to three-axis air-bearing table.The present invention also aims to provide the measuring method of three-axis air-bearing table attitude angle.
The object of the present invention is achieved like this: the measuring light mark system is installed on the table top of three-axis air-bearing table, above three-axis air-bearing table, ccd video camera is installed by support, ccd video camera links to each other with image pick-up card by data line, image acquisition snaps fits into computing machine, is connected with radio transmission apparatus on the computing machine.
The composition of attitude angle of three-axis air-bearing table device of the present invention can also comprise some features like this:
1, described ccd video camera is common black-white CCD video camera.
2, described measuring light mark system is that the infrarede emitting diode of 850nm connects to form by centre frequency.
3, the saturating optical filter of infrared height that the infrared light that has only fixed wave length could pass through is installed before the ccd video camera camera lens.
Measuring method of the present invention comprises following several steps:
1) video camera is demarcated;
2) the measuring light mark system powers up;
3) obtain the image of measuring light mark system by video camera, collect the information processing computing machine by image pick-up card;
4) the measuring light punctuate is cut apart and characteristic matching;
5) inconocenter to the measuring light punctuate carries out sub-pixel positioning;
6) calculate the attitude of measuring light mark system, determine the air floating table attitude angle then with respect to video camera;
7) result of calculation shows, and by radio transmission apparatus the result is sent to control module on the three-axis air-bearing table table top;
8) repeat above-mentioned steps 3)-7), realize the continuous coverage of three-axis air-bearing table attitude angle.
Attitude angle of three-axis air-bearing table of the present invention system is made up of measuring light mark system, ccd video camera, image pick-up card, computing machine and radio transmission apparatus etc.It is the infrarede emitting diode of 850nm that the measuring light mark system adopts centre frequency, determine the number and the geometric configuration of required infrarede emitting diode as required, the measuring light mark system is directly fixed on the three-axis air-bearing table table top, has with the identical angular motion of three-axis air-bearing table table top to be measured; Ccd video camera adopts common black-white CCD video camera on the market, is installed in the three-axis air-bearing table top by support, and links to each other with the information processing computing machine that image pick-up card is housed by data line, finishes the image acquisition of measuring light mark system.The basic functional principle of this system is earlier by the measuring light mark system picture signal of ccd video camera collection through infrared filtering, and through image pick-up card, become data image signal, secondly by the information processing computing machine data image signal is carried out calculation process, mainly comprise image pre-service, image segmentation, feature extraction, identification and coupling, utilize the image information calculating of characteristic light mark system to calculate then with respect to the vision of video camera attitude, carry out the result at last and show, and be sent to control module on the three-axis air-bearing table by radio transmission apparatus.
As an improvement of the present invention, selected for use common black-white CCD video camera to realize the measuring light mark system that is made of infrarede emitting diode is carried out imaging.This be since common color video camera sensitization spectrum only in the visible region, and the black-white CCD video camera can not only be experienced visible light, and can experience infrared light.
As another improvement of the present invention, for avoiding the ambient lighting condition effect, the filtering environmental visible light disturbs, and the saturating optical filter of infrared height that the infrared light of fixed wave length could pass through has been installed before the black-white CCD camera lens.
The present invention adopts the image of a cover black-white CCD camera acquisition through the measuring light mark system that is made of infrarede emitting diode of infrared filtering, utilize theory on computer vision and in conjunction with the range information between the measuring light punctuate, calculate the relative movement parameters of air floating table table top with respect to ccd video camera, and by obtaining image sequence continuously, realize to the noncontact of three-axis air-bearing table attitude angle, no disturbance, on a large scale, high-frequency measurement.The present invention also can carry out the attitude angle of single-axle air bearing table or five degree of freedom air floating table.Its major advantage is embodied in:
1, this system adopts contactless monocular vision to measure, and the attitude angle process can not cause interference to three-axis air-bearing table;
2, the means that adopt infrarede emitting diode and infrared fileter to match can be avoided the ambient lighting condition effect, and eliminate ambient visible light and disturb, and simplified image processing procedure greatly;
3, the employed equipment of system all is general commercial product, so system architecture is simple, cost is low, easy realization;
4, adopt high-resolution ccd video camera and image pick-up card, and utilize sub-pix hi-Fix technology, can realize the high-accuracy posture angular measurement.
(4) description of drawings
Fig. 1 is the basic principle schematic of attitude angle of three-axis air-bearing table system.
Fig. 2 measures the cursor structural representation.
Fig. 3 is the schematic flow sheet of attitude angle of three-axis air-bearing table method.
The coordinate system that Fig. 4 relates to for measuring system of the present invention.
(5) embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done explanation in further detail:
In conjunction with Fig. 1, wherein each label is represented respectively: the 1st, and common black-white CCD video camera, the 2nd, infrared fileter, the 3rd, support, the 4th, the measuring light mark system, the 5th, the power-supply system on the three-axis air-bearing table table top, the 6th, the control module on the air floating table table top, the 7th, terminal on the Wireless Telecom Equipment air floating table table top, the 8th, the sphere air-bearing, the 9th, the three-axis air-bearing table table top is installed the various device that participates in emulation, and the 10th, the three-axis air-bearing table pedestal, the 11st, the compressed nitrogen gas cylinder, the 12nd, image pick-up card, the 13rd, Wireless Telecom Equipment ground based terminal, the 14th, information processing computing machine.
Measuring system of the present invention comprises: measuring light mark system, black-white CCD video camera, image pick-up card, computing machine and radio transmission apparatus.
The measuring light mark system adopts infrarede emitting diode, improved contrast with surrounding environment, the influence of having avoided the ambient lighting condition to change, a plurality of LED install according to certain geometric configuration and constitute the measuring light mark system, according to number and the geometrical structure parameters of different definite LED such as The measuring precision and selected algorithm.A kind of embodiment is to adopt 4 infrarede emitting diode LED (201, ..., 204), geometry is illustrated as shown in Figure 2, three LED (201 wherein, 202,203) in same plane, LED (204) is at process LED (201,203) and perpendicular to by LED (201,202,203) in the plane on the plane of Gou Chenging, and LED (201,202,203) and LED (201,203,204) all constitute isosceles triangle, selecting the centre frequency of light emitting diode is 850nm, power is 10nW, and the measuring light mark system is fixed on the three-axis air-bearing table table top, has with the identical angular motion of three-axis air-bearing table table top to be measured.
Ccd video camera adopts common black-white CCD video camera on the market, this is because the common color video camera is energy transmitting color signal, from the output signal of CCD device, isolate turquoise red three kinds of primary video signals, synthetic then colour-video signal, its sensitization spectrum is only in the visible region, and the black-white CCD video camera can not only be experienced visible light, and can experience infrared light.Ccd video camera is installed in the three-axis air-bearing table top by support, and adjustment camera lens direction and parameter, make it can be to whole measuring light mark system blur-free imaging when the three-axis air-bearing table table top moves, and link to each other with the information processing computing machine that image pick-up card is housed by data line, finish the collection of measuring light mark system image.For the ambient lighting condition effect is avoided in filtering, eliminate ambient visible light and disturb, the saturating optical filter of infrared height is installed before camera lens.A kind of embodiment is that the employing centre frequency is 850nm, and bandwidth is 12nm, and the penetrating rate of peak value is 83% infrared filter.Through after the infrared filtering, only to measuring the cursor imaging, therefore early stage, Flame Image Process became simple especially to video camera, even can omit, and directly carried out feature extraction, coupling and sub-pixel positioning etc. and handled operation.
Use main schematic flow sheet that the attitude angle of three-axis air-bearing table system carries out attitude angle of three-axis air-bearing table as shown in Figure 3.
In conjunction with Fig. 3, the major function of " attitude angle of three-axis air-bearing table system " software comprises: the real-time collection of measuring light mark system image, camera lens distortion correction, measuring light punctuate are as functions such as " sub-pix " precision extraction of coordinate, the coupling of measuring the cursor picture point, attitude angle calculating.
Before how introduction utilizes ccd video camera realization attitude angle of three-axis air-bearing table in detail, at first introduce the related coordinate system of attitude angle of three-axis air-bearing table system.As shown in Figure 4, this system has related to 5 kinds of coordinate system altogether:
1) air floating table base coordinate system 405 (O
i-x
iy
iz
i), be similar to and think a rest frame;
2) air floating table table top coordinate system 404 (O
a-x
ay
az
a), the parameter that rotatablely moves between this coordinate system and the air floating table base coordinate system is the attitude angle of three-axis air-bearing table;
3) ccd video camera coordinate system 401 (O
c-x
cy
cz
c), because ccd video camera is static with respect to ground, so the transformational relation of ccd video camera coordinate system and air floating table base coordinate system belongs to the external parameter of video camera, can pre-determine;
4) photo coordinate system 402 (O
u-x
uy
u); Transformational relation between this coordinate system and ccd video camera coordinate system is the inner parameter of ccd video camera not, can obtain by demarcating in advance;
5) measuring light mark system coordinate system 403 (O
m-x
my
mz
m), owing to the measuring light mark system is fixedly mounted on the air floating table table top, so also be a definite transformational relation between measuring light mark system coordinate system and the air floating table table top coordinate system.
Obviously, for attitude angle vision measurement system of the present invention, what be concerned about most is rotatablely moving between air floating table table top coordinate system and the air floating table base coordinate system, be defined as the attitude angle of air floating table table top, owing to have definite transformational relation between ccd video camera coordinate system and the air floating table base coordinate system, what particularly we were concerned about is the relative attitude angular motion of air floating table, therefore can utilize the transformational relation between ccd video camera coordinate system and the air floating table table top coordinate system to represent air floating table table top attitude angle, and the transformational relation between measuring light mark system coordinate system and the air floating table table top coordinate system also is a definite amount, can measure in advance.
By above-mentioned analysis, we as can be seen the core of three-axis air-bearing table table top attitude angle be the transformational relation of determining between ccd video camera coordinate system and the measuring light mark system coordinate system, this process is the inverse process of picture process of hoping for success, need be from acquired two dimensional image, the anti-measuring light mark system of obtaining is with respect to the relative rotary motion parameter between the video camera.
If arbitrary measuring light punctuate P is at O
m-x
my
mz
mCoordinate in the coordinate system is (x
m, y
m, z
m), be (x as planimetric coordinates accordingly
u, y
u), then desirable pin-hole imaging camera model can be expressed as:
Ccd video camera coordinate system (O
c-x
cy
cz
c) and measuring light mark system coordinate system (O
m-x
my
mz
m) between conversion can represent with rotation matrix R and translation vector t:
With reference to the accompanying drawings 3, the message processing flow of attitude angle of three-axis air-bearing table system is as follows:
A) calibrating camera inner parameter, scaling method and step are referring to the patent of invention " a kind of structured light vision sensor scaling method based on plane target drone " of Zhou Fuqiang etc., application number: 03142658.1, open day: on January 19th, 2005, calibrating parameters is saved in computing machine;
B) obtain the piece image of measuring light mark system;
C) extract the measuring light punctuate, carry out the sub-pixel positioning of unique point, obtain the picture coordinate of unique point, and carry out characteristic matching, related algorithm has been illustrated in the works " based on the precision measurement and the motion measurement of image " at peak etc., and Science Press publishes, in July, 2002 first published;
D) objective function of definition nonlinear optimization is
R wherein, t is a kinematic parameter to be asked;
Picpointed coordinate for characteristic light punctuate i; (x
Ui, y
Ui) contain R, the expression formula of t for what determine by formula (1) and formula (2).
E) according to the picture coordinate of the measuring light punctuate that extracts, utilize Levenberg-Marquardt nonlinear optimization algorithm iteration to obtain relative position and attitude parameter, this algorithm can be published referring to works " Optimum Theory and the method " Science Press of Yuan Yaxiang etc., calendar year 2001 first published.
The attitude angle vision measurement system and the measuring method that propose according to the present invention have been set up real system, and the three-axis air-bearing table attitude angle has been carried out on-the-spot kinetic measurement, and the configuration parameters of choosing the measuring light mark system is a=b=c=10cm; 1/3 " CCD B, pixel resolution 768 * 582, horizontal definition 570 lines, ccd video camera are installed in 1m place, three-axis air-bearing table top.The employing centre frequency is 850nm, and bandwidth is 12nm, and the penetrating rate of peak value is 83% infrared filter, and the sub-pixel precision positioning error is less than 0.2 pixel; Computing machine is selected the PC of common dominant frequency 3.0G for use; Wireless Telecom Equipment adopts the 54M wireless network card of a pair of standard.Last attitude angle precision is better than 0.01 degree, satisfies the attitude angle of three-axis air-bearing table accuracy requirement.
Claims (6)
1, a kind of attitude angle of three-axis air-bearing table device, it is characterized in that: the measuring light mark system is installed on the table top of three-axis air-bearing table, above three-axis air-bearing table, ccd video camera is installed by support, ccd video camera links to each other with image pick-up card by data line, image acquisition snaps fits into computing machine, is connected with radio transmission apparatus on the computing machine.
2, attitude angle of three-axis air-bearing table device according to claim 1 is characterized in that: described ccd video camera is common black-white CCD video camera.
3, attitude angle of three-axis air-bearing table device according to claim 1 and 2 is characterized in that: described measuring light mark system is that the infrarede emitting diode of 850nm connects to form by centre frequency.
4, attitude angle of three-axis air-bearing table device according to claim 2 is characterized in that: the saturating optical filter of infrared height that the infrared light that has only fixed wave length could pass through is installed before the ccd video camera camera lens.
5, attitude angle of three-axis air-bearing table device according to claim 3 is characterized in that: the saturating optical filter of infrared height that the infrared light that has only fixed wave length could pass through is installed before the ccd video camera camera lens.
6, a kind of measuring method of three-axis air-bearing table attitude angle is characterized in that: this measuring method comprises following several steps:
1) video camera is demarcated;
2) the measuring light mark system powers up;
3) obtain the image of measuring light mark system by video camera, collect the information processing computing machine by image pick-up card;
4) the measuring light punctuate is cut apart and mated;
5) inconocenter to the measuring light punctuate carries out sub-pixel positioning;
6) calculated characteristics cursor system determines the air floating table attitude angle then with respect to the attitude of video camera;
7) result of calculation shows, and by radio transmission apparatus the result is sent to control module on the three-axis air-bearing table table top;
8) repeating step 3-7 realizes the continuous coverage of three-axis air-bearing table attitude angle.
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| CN101368821B (en) * | 2008-09-28 | 2010-06-02 | 清华大学 | Measuring apparatus for rotating angle of three-axis air bearing table |
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| CN103308028A (en) * | 2013-05-27 | 2013-09-18 | 哈尔滨工业大学 | Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform |
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| CN101865655A (en) * | 2010-05-26 | 2010-10-20 | 哈尔滨工业大学 | Six-dimensional position and orientation precision test method of space mechanical arm based on air flotation system |
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| CN102798356A (en) * | 2011-08-17 | 2012-11-28 | 南京金柏图像技术有限公司 | Method for measuring accurate angle of servo rotary platform |
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| CN102865883B (en) * | 2012-06-26 | 2015-05-20 | 北京航空航天大学 | Test system for impact analysis of imaging quality of TDICCD (Time Delayed Integration Charge Coupled Device) by multi-source interference |
| CN103196374A (en) * | 2013-04-01 | 2013-07-10 | 哈尔滨工业大学 | Satellite air-floated platform two-dimensional moving posture parameter measurement device |
| CN103196374B (en) * | 2013-04-01 | 2016-07-06 | 哈尔滨工业大学 | Satellite air floating platform two dimensional motion attitude parameter measurement apparatus |
| CN103308028A (en) * | 2013-05-27 | 2013-09-18 | 哈尔滨工业大学 | Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform |
| CN103308028B (en) * | 2013-05-27 | 2015-03-18 | 哈尔滨工业大学 | Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform |
| CN106054934A (en) * | 2016-06-13 | 2016-10-26 | 哈尔滨工大智慧工厂有限公司 | Air floating platform system based on visual pre-judging tracking |
| CN106248302A (en) * | 2016-09-05 | 2016-12-21 | 哈尔滨工业大学 | A kind of twin shaft air floating table Balame regulating device and balancing method thereof |
| CN116182807A (en) * | 2023-04-24 | 2023-05-30 | 北京惠朗时代科技有限公司 | Gesture information determining method, device, electronic equipment, system and medium |
| CN116592899A (en) * | 2023-04-28 | 2023-08-15 | 哈尔滨工业大学 | Pose measurement system based on modularized infrared targets |
| CN116592899B (en) * | 2023-04-28 | 2024-03-29 | 哈尔滨工业大学 | Pose measurement system based on modularized infrared targets |
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