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Air floatation motion simulator pose measuring device and method based on computer vision

A motion simulator and computer vision technology, applied in measurement devices, calculations, and optical devices, etc., can solve the problem of inability to measure the position and attitude of a three-axis air-floating platform, and achieve high stability and measurement accuracy, good adaptability, Guaranteed accuracy and stability

Active Publication Date: 2020-12-11
HARBIN INST OF TECH
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Problems solved by technology

However, the pose measurement method that combines the target detection algorithm and the monocular vision measurement method proposed in it can realize the pose measurement of the single-axis air-floating platform, but it cannot be used for the pose measurement of the three-axis air-floating platform. has certain limitations

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  • Air floatation motion simulator pose measuring device and method based on computer vision
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  • Air floatation motion simulator pose measuring device and method based on computer vision

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Embodiment 1

[0029] For the single-axis air bearing platform 1, its motion form is two-dimensional translation and one-dimensional rotation. In order to maximize the use of this prior information, it is regarded as a cooperative target to be measured, and a single-axis air bearing platform is designed. The plane measurement target of the air bearing table 1. Due to the adoption of the cooperative target measurement scheme, the depth information of the marker points can be calculated by measuring the geometric relationship of the target itself, and the monocular camera 2 can be used for camera selection. The schematic diagram of the pose measurement of the single-axis air bearing platform 1 is as follows: figure 1 As shown, the monocular camera 2 is installed on the camera bracket 3, the monocular camera 2 is located above the single-axis air bearing table 1, and the measurement target is installed on the single-axis air bearing table 1. When measuring the pose of the single-axis air beari...

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Abstract

The invention provides an air floatation motion simulator pose measuring device and method based on computer vision, which belong to the technical field of simulation testing. The method comprises thefollowing steps of regarding a single-axis air floating platform as a cooperative to-be-measured target, firstly installing a designed measurement target on the single-axis air floatation platform, then extracting three-dimensional coordinates of the measurement target in a measurement image, and finally reversely deducing position and attitude information of the single-axis air floatation platform according to the three-dimensional coordinates of the measurement target. For a three-axis air floatation table, the three-axis air floatation table is regarded as a non-cooperative target, a series of feature points are extracted on the three-axis air floatation table in advance, then three-dimensional coordinates of the feature points are extracted from a measurement image, and finally a coordinate system of a table body of the three-axis air floatation table is reconstructed according to the three-dimensional coordinates of the feature points, solving a coordinate transformation relationship between the coordinate system of the three-axis air floatation table body and the world coordinate system so as to obtain the position and attitude information of the three-axis air floatation table. The device has the advantages of being easy to implement, free of contact, low in cost and high in precision.

Description

technical field [0001] The invention relates to a computer vision-based air-flotation motion simulator pose measurement device and method, belonging to the technical field of simulation testing. Background technique [0002] In the paper "Research on High-precision Position and Attitude Measurement Technology for Large Targets" (Master's Thesis of University of Chinese Academy of Sciences, Cui Yihan, June 2018), a vision-guided high-precision position and attitude measurement method for large targets was proposed. A laser range finder is fixed near the camera, and a pose measurement system based on a monocular camera-laser range finder is established. Set a suitable cooperative target on the target to be positioned, use the monocular camera to obtain the center position of the cooperative target, guide the laser rangefinder / laser theodolite to automatically aim at the center position of the cooperative target, and then obtain the spatial pose of the target to be positioned t...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01C21/00G06T7/73
CPCG01B11/002G01C21/00G06T7/73
Inventor 孙浩然李莉夏红伟马广程温奇咏
Owner HARBIN INST OF TECH
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