Method for butt-guided measurement of multi-segment barrel sections of solid motor based on binocular vision
A solid engine, binocular vision technology, applied in the direction of photo interpretation, image analysis, image enhancement, etc., to achieve the effect of eliminating absolute spatial similarity and difference, strong anti-interference ability, and high precision
Active Publication Date: 2022-07-08
SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP +1
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[0009] The purpose of the present invention is: convenient, fast, high-precision, high-accuracy automation, and can adapt to the complex workshop environment and the algorithm of the docking measurement of large parts, to replace the existing artificial high-intensity manual installation in the factory. Complex Inspection and Measurement
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[0098] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.
[0099] Step 1: Set up a dual-camera environment
[0100] According to the on-site environment and the moving range of the measured cylinder section, estimate and build the field of view of the binocular vision system, such as figure 1 shown.
[0101] The present invention is a technology for measuring spatial attitude data during the docking process of multi-section barrel sections of a solid motor. The binocular vision system...
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The invention relates to a binocular vision-based butt-guided measurement algorithm for multi-section barrel sections of a solid engine. The invention adopts the Euclidean motion recovery structure combined with the SIFT size-invariant feature transformation algorithm and the RANSAC random sampling consistency algorithm under binocular vision to better collect the accuracy of sub-pixel level, and provides high precision, anti-interference. A powerful set of algorithms. Combined with the correction coefficient of the contact measurement of the measurement robot, the absolute spatial similarity difference existing in the recovery of the Euclidean structure is eliminated, and the metric reconstruction using this method ensures the reliability of the accuracy. When calibrating the internal and external parameters of the camera, the present invention only needs a simple calibration plate for binocular shooting, and the internal and external parameter matrices of the camera can be accurately calculated, and the prepared data is provided for the matrix conversion between the camera coordinate system and the world coordinate system. , so as to achieve the stability and accuracy of the solution of the cylinder space pose.
Description
technical field [0001] The invention relates to a binocular vision-based docking guidance measurement algorithm for multi-section barrel sections of a solid engine, and belongs to the technical field of measurement in docking guidance. Background technique [0002] Through the automatic docking and automatic measurement technology, the assembly accuracy of the solid motor will be greatly improved, the repetitive and heavy labor intensity of manual labor will be greatly reduced, and the human safety of the assembly workshop will be improved. At present, the domestic solid motor assembly is mostly multi-person and multi-station collaborative assembly. During the assembly process, experienced operators are required to repeat the trial assembly, feeler gauge measurement and multiple sets of tooling and fixtures to assist. There are also a small number of factories that use a six-axis automated assembly platform to realize multi-segment docking assembly, and use a laser tracker o...
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IPC IPC(8): G01C11/08G01C11/34G06T7/33G06T7/80
CPCG01C11/08G01C11/34G06T7/80G06T7/33G06T2207/10004
Inventor 琚长江瞿涛张建安汤晓栋程睿远
Owner SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP