CN201355241Y - Visual-based space target pose measuring device - Google Patents
Visual-based space target pose measuring device Download PDFInfo
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- CN201355241Y CN201355241Y CNU2008201234336U CN200820123433U CN201355241Y CN 201355241 Y CN201355241 Y CN 201355241Y CN U2008201234336 U CNU2008201234336 U CN U2008201234336U CN 200820123433 U CN200820123433 U CN 200820123433U CN 201355241 Y CN201355241 Y CN 201355241Y
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Abstract
The utility model relates to a visual-based space target pose measuring device, which consists of an electric control displacement platform, an image collecting device and a comprehensive information processing platform, and adopts the method which consists of a binocular image 2D plain target-based camera standardization module, a binocular image characteristic point extracting module, a binocular image characteristic point matching module and a pose parameter measuring module. The movement of the electric control displacement platform and a CCD camera which is arranged on the electric control displacement platform is controlled through the comprehensive information processing, and the CCD camera in the movement transmits a binocular image to a high-speed computer of the information processing platform, and the high-speed computer calculates the space target relative position and pose parameters during the processing for approaching the space target through a series of information processing process (mainly the image processing process), and the high-speed computer compares the parameters of the space target which is obtained through the information processing with the movement parameters of the electric control displacement platform to verify the correctness of the measurement result and to analyze the measurement precision.
Description
(1) technical field:
The utility model relates to the extraterrestrial target pose measuring apparatus based on vision, refers to that especially a kind of pattern-recognition and Based Intelligent Control, tracking aircraft belong to technical field of information processing to the device that extraterrestrial target approaches tracking, Flame Image Process and the calculating of extraterrestrial target kinematic parameter in the process of drawing close.
(2) background technology:
The research work of early warning from satellite, mainly concentrate on remote section the demand remote in time discovery, the early warning of small and weak extraterrestrial target, the emphasis of research be the extraterrestrial target at the spacecraft stage casing detect tracking (at this moment the visible light of extraterrestrial target, infrared characteristic with respect to powered phase still a little less than, signal to noise ratio (S/N ratio) is low), the image-forming condition of research spacecraft and imaging characteristics are to the influence of extraterrestrial target accurate tracking.For far away section, the research of the extraterrestrial target recognition and tracking in stage casing, also obtained impressive progress.
For the research of closely extraterrestrial target extraterrestrial target feature extraction, gesture recognition and measurement aspect, the dealer does a lot of work, and has obtained certain achievement in research.
Research work mainly concentrate on remote section to small and weak extraterrestrial target remote in time find, the emphasis of research is that extraterrestrial target at the spacecraft stage casing detects tracking.For far away section, the extraterrestrial target recognition and tracking in stage casing, extraterrestrial target detects identification, extraterrestrial target and aspects such as background modeling, extraterrestrial target trajectory predictions and tracking and has obtained a lot of important achievements under complex background.The intersection butt joint of spacecraft is one of gordian technique, and closely feature extraction tracking, gesture recognition and the kinetic measurement of extraterrestrial target are to influence the task key of success in this process.
(3) utility model content:
The purpose of this utility model is to provide a kind of extraterrestrial target pose measuring apparatus based on vision, approach in the process of drawing close to extraterrestrial target to be implemented in the tracking aircraft, by the principle and the image process method of binocular imaging, the position and the attitude parameter of extraterrestrial target carried out accurate Calculation.
A kind of extraterrestrial target pose measuring apparatus based on vision is characterized in that: it is to be made of following three parts: automatically controlled displacement platform, image capture device, integrated information processing platform; This automatically controlled displacement platform and integrated information processing platform are made up of the servo displacement platform of six degree of freedom high accuracy number, displacement platform control box and information interface, servocontrol processing unit, high-speed computer respectively; Wherein, image capture device mainly comprises two ccd video cameras; The support platform that the servo displacement platform of six degree of freedom high accuracy number is an image acquiring device is carried out the motion of six degree of freedom according to the steering order of displacement platform control box, realizes the checking to measurement result in the binocular measuring process; High-speed computer receives from the left and right sides image information that two ccd video cameras import into, finish to about a series of information processes in two width of cloth binocular images, comprise that extraterrestrial target Feature Extraction, characteristic matching, signature tracking, kinematic parameter calculate, the realization of three-dimensional reconstruction scheduling algorithm; The servocontrol processing unit can send control command to automatically controlled displacement platform, makes the instruction campaign of the servo displacement platform of six degree of freedom high accuracy number according to input;
Should be based on the pass between each ingredient of extraterrestrial target pose measuring apparatus of vision: image capture device be installed in the servo displacement platform of the six degree of freedom high accuracy number support two ends of automatically controlled displacement platform respectively, relative position can be mediated, and can move with the servo displacement platform of high accuracy number simultaneously; Image capture device all links to each other with integrated information processing platform with automatically controlled displacement platform, realizes that image that image capture device obtained is to the transmission to the steering order of servo platform of the transmission of the information processing platform and the information processing platform.
A kind of extraterrestrial target pose measuring apparatus based on vision of the utility model is made of following three parts: automatically controlled displacement platform, image capture device, integrated information processing platform.
1) image capture device:
This image capture device mainly comprises two CCD (Charge Coupled Device, i.e. Charge Coupled Device (CCD) imageing sensor) video camera.
The concrete parameter of ccd video camera is as follows:
The KP-F200SCL camera parameters is:
● resolution (valid pixel) 1628 * 1236
● CCD area 7.16 * 5.44mm 1/1.8-inch
● frame frequency 15fps
● interface Mini CamraLink
● size 29 (W) * 29 (H) * 29 (D)
● the about 53g of weight
● other 10bits output, serial ports control supports, working temperature 0～+ 40 ℃
2) automatically controlled displacement platform:
This automatically controlled displacement platform is made up of the servo displacement platform of six degree of freedom high accuracy number, displacement platform control box.
The support platform that the servo displacement platform of this six degree of freedom high accuracy number is an image acquiring device can be carried out the motion of six degree of freedom according to the steering order of displacement platform control box, realizes the checking to measurement result in the binocular measuring process.
This displacement platform control box by serial ports to the servo displacement platform of six degree of freedom high accuracy number sending controling instruction.
The parameter of automatically controlled displacement platform is as follows:
● X, Y-axis ± 0.35m
● Z axle ± 0.5m
● three slewing area ± 45 °
● base length is adjusted 0.2～0.5m
● optical axis angle ± 45 °
● X, Y, Z axial translation precision ± 0.1mm
● three rotation precision ± 0.05 °
● base length is adjusted precision 0.01mm
● optical axis angle is adjusted precision ± 0.05 °
3) integrated information processing platform:
This integrated information processing platform is made up of information interface, servocontrol processing unit, high-speed computer.
High-speed computer receives from the left and right sides image information that two ccd video cameras import into, finish to about a series of information processes in two width of cloth binocular images, comprise that extraterrestrial target Feature Extraction, characteristic matching, signature tracking, kinematic parameter calculate, the realization of three-dimensional reconstruction scheduling algorithm.
The servocontrol processing unit can send control command to automatically controlled displacement platform, makes the instruction campaign of the servo displacement platform of six degree of freedom high accuracy number according to input.
Details are as follows based on the relation between each ingredient of extraterrestrial target pose measuring apparatus of vision:
Annexation based on the extraterrestrial target pose measuring apparatus of vision is: image capture device (two ccd video cameras) is installed in the servo displacement platform of the six degree of freedom high accuracy number support two ends of automatically controlled displacement platform respectively, relative position can be mediated, and can move with the servo displacement platform of high accuracy number simultaneously; Image capture device all links to each other with integrated information processing platform with automatically controlled displacement platform, realizes that image that image capture device obtained is to the transmission to the steering order of servo platform of the transmission of the information processing platform and the information processing platform.
A kind of extraterrestrial target pose measuring apparatus of the utility model based on vision, its workflow is: at first the servocontrol processing unit by integrated information processing platform sends instruction to the servo displacement platform of the six degree of freedom high accuracy number of automatically controlled displacement platform, it is approached to extraterrestrial target according to the program that configures draw close; Simultaneously, in the process of motion, the image capture device that is installed in the servo displacement platform of six degree of freedom high accuracy number of automatically controlled displacement platform is constantly gathered the extraterrestrial target binocular sequence image in the motion process, these images that collect are passed to the high-speed computer of the information processing platform, high-speed computer is by a series of information process (being mainly image processing process), calculate to extraterrestrial target and approach relative position and the attitude parameter that the space target is concrete in the process of drawing close, again the kinematic parameter of the servo displacement platform of six degree of freedom high accuracy number of the parameter of the extraterrestrial target that draws through Flame Image Process computation process and automatically controlled displacement platform is compared at last, in order to confirmatory measurement result's correctness and follow-up measurement precision analysis.
A kind of extraterrestrial target pose measuring apparatus based on vision of the utility model, its advantage is: based on the method for vision and information processing (being mainly Flame Image Process), finish the measurement to the extraterrestrial target pose, reach higher precision.
(4) description of drawings:
Figure 1 shows that formation block diagram based on the extraterrestrial target pose measuring apparatus of vision
Figure 2 shows that the formation block diagram of image capture device
Figure 3 shows that the formation block diagram of automatically controlled displacement platform
Figure 4 shows that the formation block diagram of integrated information processing platform
Number in the figure is described as follows:
1, image capture device;
2, automatically controlled displacement platform;
3, integrated information processing platform;
4, ccd video camera;
5, the servo displacement platform of six degree of freedom high accuracy number;
6, displacement platform control box;
7, information interface;
8, servocontrol processing unit;
9, high-speed computer;
(5) embodiment:
A kind of extraterrestrial target pose measuring apparatus based on vision of the utility model is made of following three parts: automatically controlled displacement platform, image capture device, integrated information processing platform.
1) image capture device:
As shown in Figure 2, this image capture device 1 mainly comprises two CCD (Charge Coupled Device, i.e. Charge Coupled Device (CCD) imageing sensor) video camera 4.
The concrete parameter of ccd video camera is as follows:
KP-F200SCL video camera 4 parameters are:
● resolution (valid pixel) 1628 * 1236
● CCD area 7.16 * 5.44mm 1/1.8-inch
● frame frequency 15fps
● interface Mini CamraLink
● size 29 (W) * 29 (H) * 29 (D)
● the about 53g of weight
Other 10bits output, serial ports control supports, working temperature 0～+ 40 ℃
2) automatically controlled displacement platform:
As shown in Figure 3, this automatically controlled displacement platform 2 is made up of the servo displacement platform 5 of six degree of freedom high accuracy number, displacement platform control box 6.
The support platform that the servo displacement platform 5 of this six degree of freedom high accuracy number is image acquiring devices can be carried out the motion of six degree of freedom according to the steering order of displacement platform control box 6, realizes the checking to measurement result in the binocular measuring process.
This displacement platform control box 6 by serial ports to servo displacement platform 5 sending controling instructions of six degree of freedom high accuracy number.
The parameter of automatically controlled displacement platform is as follows:
● X, Y-axis ± 0.35m
● Z axle ± 0.5m
● three slewing area ± 45 °
● base length is adjusted 0.2～0.5m
● optical axis angle ± 45 °
● X, Y, Z axial translation precision ± 0.1mm
● three rotation precision ± 0.05 °
● base length is adjusted precision 0.01mm
● optical axis angle is adjusted precision ± 0.05 °
3) integrated information processing platform:
As shown in Figure 4, this integrated information processing platform 3 is made up of information interface 7, servocontrol processing unit 8, high-speed computer 9.
High-speed computer 9 receives from the left and right sides image information that two ccd video cameras 4 import into, finish to about a series of information processes in two width of cloth binocular images, comprise that extraterrestrial target Feature Extraction, characteristic matching, signature tracking, kinematic parameter calculate, the realization of three-dimensional reconstruction scheduling algorithm.
Servocontrol processing unit 8 can send control command to automatically controlled displacement platform 2, makes the instruction campaign of the servo displacement platform 5 of six degree of freedom high accuracy number according to input.
Details are as follows based on the relation between each ingredient of extraterrestrial target pose measuring apparatus of vision:
As shown in Figure 1, annexation based on the extraterrestrial target pose measuring apparatus of vision is: image capture device 1 (two ccd video cameras 4) is installed in the servo displacement platform of the six degree of freedom high accuracy number 5 support two ends of automatically controlled displacement platform 2 respectively, relative position can be mediated, and can move platform 5 motions with the servo transposition of high accuracy number simultaneously; Image capture device 1 all links to each other with integrated information processing platform 3 with automatically controlled displacement platform 2, realizes the transmission to the steering order of the transmission of the information processing platform 3 and 3 pairs of servo platforms 2 of the information processing platform of image that image capture device 1 obtained.
A kind of extraterrestrial target pose measuring apparatus of the utility model based on vision, its workflow is: at first the servocontrol processing unit 8 by integrated information processing platform 3 sends instruction to the servo displacement platform 5 of the six degree of freedom high accuracy number of automatically controlled displacement platform 2, it is approached to extraterrestrial target according to the program that configures draw close; Simultaneously, in the process of motion, be installed in the image capture device 1 continuous extraterrestrial target binocular sequence image of gathering in the motion process of the servo displacement platform 5 of six degree of freedom high accuracy number of automatically controlled displacement platform 2, these images that collect are passed to the high-speed computer 9 of the information processing platform 3, high-speed computer 9 is by a series of information process (being mainly image processing process), calculate to extraterrestrial target and approach relative position and the attitude parameter that the space target is concrete in the process of drawing close, again the kinematic parameter of the servo displacement platform 5 of six degree of freedom high accuracy number of the parameter of the extraterrestrial target that draws through Flame Image Process computation process and automatically controlled displacement platform 2 is compared at last, in order to confirmatory measurement result's correctness and follow-up measurement precision analysis.
Adopt technology and device in the utility model, total system can reach following technical indicator to the extraterrestrial target pose measuring apparatus based on vision:
● decipherment distance scope 20m～0.5m
● camera field of view angle (70-100) °
● correct measurement probability 95%
● base length scope 0.1～0.5m
● positional accuracy measurement 0.1m～0.5m
● data updating rate 1～5Hz.
Claims (1)
1, a kind of extraterrestrial target pose measuring apparatus based on vision is characterized in that: it is to be made of following three parts: automatically controlled displacement platform, image capture device, integrated information processing platform; This automatically controlled displacement platform and integrated information processing platform are made up of the servo displacement platform of six degree of freedom high accuracy number, displacement platform control box and information interface, servocontrol processing unit, high-speed computer respectively; Wherein, image capture device mainly comprises two ccd video cameras; The support platform that the servo displacement platform of six degree of freedom high accuracy number is an image acquiring device is carried out the motion of six degree of freedom according to the steering order of displacement platform control box, realizes the checking to measurement result in the binocular measuring process; High-speed computer receives from the left and right sides image information that two ccd video cameras import into, finish to about a series of information processes in two width of cloth binocular images, comprise that extraterrestrial target Feature Extraction, characteristic matching, signature tracking, kinematic parameter calculate, the realization of three-dimensional reconstruction scheduling algorithm; The servocontrol processing unit can send control command to automatically controlled displacement platform, makes the instruction campaign of the servo displacement platform of six degree of freedom high accuracy number according to input;
Should be based on the pass between each ingredient of extraterrestrial target pose measuring apparatus of vision: image capture device be installed in the servo displacement platform of the six degree of freedom high accuracy number support two ends of automatically controlled displacement platform respectively, relative position can be mediated, and can move with the servo displacement platform of high accuracy number simultaneously; Image capture device all links to each other with integrated information processing platform with automatically controlled displacement platform, realizes that image that image capture device obtained is to the transmission to the steering order of servo platform of the transmission of the information processing platform and the information processing platform.
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| CNU2008201234336U CN201355241Y (en) | 2008-10-30 | 2008-10-30 | Visual-based space target pose measuring device |
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| CNU2008201234336U CN201355241Y (en) | 2008-10-30 | 2008-10-30 | Visual-based space target pose measuring device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102889883A (en) * | 2012-10-24 | 2013-01-23 | 北京航天控制仪器研究所 | Object space attitude measurement device |
| CN103530868A (en) * | 2012-06-28 | 2014-01-22 | 通用汽车环球科技运作有限责任公司 | Using the minimum cost flow network wide baseline binocular objects matching method |
| CN103713644A (en) * | 2013-12-11 | 2014-04-09 | 中国科学院长春光学精密机械与物理研究所 | Space target dynamic display and position guide system |
| CN104197835A (en) * | 2014-09-11 | 2014-12-10 | 北京航空航天大学 | Spatial position simulation and calibration method |
| CN109360243A (en) * | 2018-09-28 | 2019-02-19 | 上海爱观视觉科技有限公司 | A kind of scaling method of the movable vision system of multiple degrees of freedom |
| CN109612391A (en) * | 2019-01-17 | 2019-04-12 | 华南农业大学 | Based on the binocular measuring device of separate unit high speed camera to land leveller method for space coordinates measurement |
-
2008
- 2008-10-30 CN CNU2008201234336U patent/CN201355241Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103530868A (en) * | 2012-06-28 | 2014-01-22 | 通用汽车环球科技运作有限责任公司 | Using the minimum cost flow network wide baseline binocular objects matching method |
| CN103530868B (en) * | 2012-06-28 | 2016-10-05 | 通用汽车环球科技运作有限责任公司 | Use the wide baseline binocular object matches method of least cost flow network |
| CN102889883A (en) * | 2012-10-24 | 2013-01-23 | 北京航天控制仪器研究所 | Object space attitude measurement device |
| CN102889883B (en) * | 2012-10-24 | 2014-11-19 | 北京航天控制仪器研究所 | Object space attitude measurement device |
| CN103713644A (en) * | 2013-12-11 | 2014-04-09 | 中国科学院长春光学精密机械与物理研究所 | Space target dynamic display and position guide system |
| CN104197835A (en) * | 2014-09-11 | 2014-12-10 | 北京航空航天大学 | Spatial position simulation and calibration method |
| CN104197835B (en) * | 2014-09-11 | 2017-01-18 | 北京航空航天大学 | Spatial position simulation and calibration method |
| CN109360243A (en) * | 2018-09-28 | 2019-02-19 | 上海爱观视觉科技有限公司 | A kind of scaling method of the movable vision system of multiple degrees of freedom |
| US11847797B2 (en) | 2018-09-28 | 2023-12-19 | Anhui Eyevolution Technology Co., Ltd. | Calibration method for multi-degree-of-freedom movable vision system |
| CN109612391A (en) * | 2019-01-17 | 2019-04-12 | 华南农业大学 | Based on the binocular measuring device of separate unit high speed camera to land leveller method for space coordinates measurement |
| CN109612391B (en) * | 2019-01-17 | 2020-09-01 | 华南农业大学 | Method for measuring space coordinates of land leveler by using binocular measuring device based on single high-speed camera |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091202 Termination date: 20111030 |