基于视觉引导的大尺度空间坐标测量方法研究
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摘要
高精度大量程的大尺寸坐标测量系统在航空航天、汽车造船、水力电力、钢铁、交通运输等工业领域中有着广泛的需求。随着大型装备制造业的发展,工业产品设计和制造技术不断革新,工业现场大尺寸测量逐渐呈现出测量环境复杂、测量对象多样、测量过程自动化和测量功能综合化的特点,传统的大尺寸测量系统已经无法满足日益增长的工业现场大尺度空间坐标测量的要求。如何研发具有高度适应性和灵活性、将大尺寸远距离测量和小尺寸近距离终端测量相结合的新型组合式测量体制,成为当前大尺寸测量领域研究的焦点和热点。
论文从组合式大尺寸测量技术的关键环节——大空间全局测量设备和控制理论入手,探索实现了基于视觉引导的大尺度空间坐标测量的技术途径,将基于角度测量的多经纬仪测量技术、摄像机标定技术和精密转台控制等技术相结合,从理论和实践上进行了一系列深入研究,提出了基于多站位转换的初始引导方法和基于图像识别和经纬仪运动模型的精确瞄准方法及相关数据拼接技术,并完成了相应实验验证工作。实验证明,本论文提出的基于视觉引导的大尺度空间坐标测量方法具有良好的可行性。论文主要研究内容和工作如下:
1研究了大尺寸坐标测量系统的需求和应用及其国内外发展现状,针对目前重大装备制造业的需求,提出了一种新型组合式大尺寸测量方法,并重点就其中的全局测量方法——基于视觉引导的大尺度空间坐标测量方法进行了深入分析。
2针对大尺寸测量系统中由多台高精度激光经纬仪构成的测量子系统,深入研究了针对不同测量场合的多经纬仪系统定向方法,并对其坐标计算方法、测点误差及最佳测量区域等进行了相关分析和研究。
3利用摄像机和经纬仪系统的方位关系,提出了基于摄像机标定技术、空间坐标转换理论及精密转台控制技术的系统“初始引导”方法,实现了摄像机空间位置对激光经纬仪视准轴方位的实时引导模型,并进行了系统仿真和实验验证。
4建立了经纬仪自动瞄准模型并确定了经纬仪对被测目标的跟踪策略;研究了大视场全局测量技术,提出分区定位拍摄的方法,研究了分区原则及数据筛选和重复点剔除方法;提出了经纬仪和转台流动式测量的完整信息获取技术。
5对本论文中提到的全局测量方法进行实验验证,搭建了系统硬件平台并进行了软件设计,分析了系统的误差来源及其对系统的测量精度、测量效率的影响,对系统整体测量误差和测量效率进行了综合评价。
Large-scale coordinate measurement systems with high precision and long measuring range are widely used in national economy’s pillar industry such as aviation, shipbuilding, hydraulic and electric engineering, iron and transportation. As the large equipment manufacturing is developing, the product design and manufacturing techniques are innovating. The large-scale measurement on field has the characteristics of complex measuring environment, diversity of the measured objects, automation of the measuring process and integration of the measuring functions. The traditional measurement system can not satisfy the increasing demands of the large-scale measurement on field. Nowadays, the development of new combined measurement systems with the combination of large-scale measurement and close-range measurement with high flexibility and adaptability is the focus and hot spot in the study of the current large-scale measurement field.
Focusing on the key link of combined large-scale measurement technology, that is, the large space global measurement equipment and its related control theories, this paper studied and implemented technical approach of large scale coordinate measurement based on vision guiding. Combining with multi-theodolite measurement technology, camera calibration technology and sophisticated turntable control technology, a series of in-depth study were conducted theoretically and practically. Initial guidance methodology using multi-station conversion and precision aiming methodology based on object recognition and motion model of theodolite and related data splicing technology were proposed and the corresponding experimental verifications were completed. The methodology of automatic laser theodolite measurement is high in feasibility and efficiency which was proved by experiments. The main contents and work of this dissertation are summarized as follows.
1 With the investigation of the demands and the developing status of the large-scale coordinate measuring system, according to the urgent requirements of major equipment manufacturing, a new combined large-size measurement method was proposed. The emphasis was laid on the detailed analysis and investigation of the global measurement method, as well as the large-scale coordinate measurement system base on vision guidance.
2 According to the measurement subsystem constituted by multiple precision laser theodolites, the calibration of multi-theodolite system applied in different situations were studied, as well as the coordinate measurement method, the measuring error analysis and the estimation of the best measuring field.
3 The initial guidance methodology was presented based on camera calibration technique, coordinate transformation theory and the control theory of the precision rotation stage using the relationship between the camera coordinate system and the theodolite measurement system. The realtime guidance model of the theodolite collimation axis based on the position of the camera was built with system simulation and experimental verification.
4 The automatic aiming model was established with the tracking strategy of the theodolites for measured target. The global measurement technology in large view field was studied and the measuring principle based on combined datum from divided areas was presented with the division rule and data selection method. Also the complete information acquisition technique based on the theodolite movement and rotation stage movement was proprosed.
5 The experimental verification of the measuring method was conducted with the established hardware platform and the software designed. The error resources and their influnces on the measuring accuracy and efficiency were analyzed. Also the measuring errors and efficiency of the system were evaluated comprehensively.
论文从组合式大尺寸测量技术的关键环节——大空间全局测量设备和控制理论入手,探索实现了基于视觉引导的大尺度空间坐标测量的技术途径,将基于角度测量的多经纬仪测量技术、摄像机标定技术和精密转台控制等技术相结合,从理论和实践上进行了一系列深入研究,提出了基于多站位转换的初始引导方法和基于图像识别和经纬仪运动模型的精确瞄准方法及相关数据拼接技术,并完成了相应实验验证工作。实验证明,本论文提出的基于视觉引导的大尺度空间坐标测量方法具有良好的可行性。论文主要研究内容和工作如下:
1研究了大尺寸坐标测量系统的需求和应用及其国内外发展现状,针对目前重大装备制造业的需求,提出了一种新型组合式大尺寸测量方法,并重点就其中的全局测量方法——基于视觉引导的大尺度空间坐标测量方法进行了深入分析。
2针对大尺寸测量系统中由多台高精度激光经纬仪构成的测量子系统,深入研究了针对不同测量场合的多经纬仪系统定向方法,并对其坐标计算方法、测点误差及最佳测量区域等进行了相关分析和研究。
3利用摄像机和经纬仪系统的方位关系,提出了基于摄像机标定技术、空间坐标转换理论及精密转台控制技术的系统“初始引导”方法,实现了摄像机空间位置对激光经纬仪视准轴方位的实时引导模型,并进行了系统仿真和实验验证。
4建立了经纬仪自动瞄准模型并确定了经纬仪对被测目标的跟踪策略;研究了大视场全局测量技术,提出分区定位拍摄的方法,研究了分区原则及数据筛选和重复点剔除方法;提出了经纬仪和转台流动式测量的完整信息获取技术。
5对本论文中提到的全局测量方法进行实验验证,搭建了系统硬件平台并进行了软件设计,分析了系统的误差来源及其对系统的测量精度、测量效率的影响,对系统整体测量误差和测量效率进行了综合评价。
Large-scale coordinate measurement systems with high precision and long measuring range are widely used in national economy’s pillar industry such as aviation, shipbuilding, hydraulic and electric engineering, iron and transportation. As the large equipment manufacturing is developing, the product design and manufacturing techniques are innovating. The large-scale measurement on field has the characteristics of complex measuring environment, diversity of the measured objects, automation of the measuring process and integration of the measuring functions. The traditional measurement system can not satisfy the increasing demands of the large-scale measurement on field. Nowadays, the development of new combined measurement systems with the combination of large-scale measurement and close-range measurement with high flexibility and adaptability is the focus and hot spot in the study of the current large-scale measurement field.
Focusing on the key link of combined large-scale measurement technology, that is, the large space global measurement equipment and its related control theories, this paper studied and implemented technical approach of large scale coordinate measurement based on vision guiding. Combining with multi-theodolite measurement technology, camera calibration technology and sophisticated turntable control technology, a series of in-depth study were conducted theoretically and practically. Initial guidance methodology using multi-station conversion and precision aiming methodology based on object recognition and motion model of theodolite and related data splicing technology were proposed and the corresponding experimental verifications were completed. The methodology of automatic laser theodolite measurement is high in feasibility and efficiency which was proved by experiments. The main contents and work of this dissertation are summarized as follows.
1 With the investigation of the demands and the developing status of the large-scale coordinate measuring system, according to the urgent requirements of major equipment manufacturing, a new combined large-size measurement method was proposed. The emphasis was laid on the detailed analysis and investigation of the global measurement method, as well as the large-scale coordinate measurement system base on vision guidance.
2 According to the measurement subsystem constituted by multiple precision laser theodolites, the calibration of multi-theodolite system applied in different situations were studied, as well as the coordinate measurement method, the measuring error analysis and the estimation of the best measuring field.
3 The initial guidance methodology was presented based on camera calibration technique, coordinate transformation theory and the control theory of the precision rotation stage using the relationship between the camera coordinate system and the theodolite measurement system. The realtime guidance model of the theodolite collimation axis based on the position of the camera was built with system simulation and experimental verification.
4 The automatic aiming model was established with the tracking strategy of the theodolites for measured target. The global measurement technology in large view field was studied and the measuring principle based on combined datum from divided areas was presented with the division rule and data selection method. Also the complete information acquisition technique based on the theodolite movement and rotation stage movement was proprosed.
5 The experimental verification of the measuring method was conducted with the established hardware platform and the software designed. The error resources and their influnces on the measuring accuracy and efficiency were analyzed. Also the measuring errors and efficiency of the system were evaluated comprehensively.
引文
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