摘要
在海洋工程中的物理模型实验中，需要精确的实时测量出浮体的六自由度运动轨迹，为科研和工程设计提供可靠的技术依据。利用国家计委投资的国家重点实验室建设经费，我们研制了浮体六自由度测试系统，通过实际物理模型实验测量结果认为，该测试系统满足测量使用需求。
本文首先介绍了国内外六自由度检测系统的现状，以及开发六自由度检测系统的可行性和现实意义；其次介绍了自行研制的接触式六自由度检测系统，它重量轻、安装使用方便，数据采集、处理由计算机程序自动完成，这种六自由度检测系统可以同时测量物体在六个自由度上的运动情况，已经应用在海洋和近海工程物理模型实验中，可用于测量船舶或者系泊浮体的运动情况；之后开发了非接触式六自由度检测系统，这种基于计算机视觉技术的非接触式六自由度检测系统，通过图像处理获取二维特征点坐标，利用交汇测量技术或求解线性方程手段，三维重构出空间坐标点，进一步求出空间物体六自由度运动分量，非接触式浮体六自由度检测系统结合了图像处理技术和计算机视觉技术，具有处理精度高，数据采集、处理、分析集成化等优点。
论文最后对两种非接触式的六分量检测系统实现方法的实验步骤及参数设置进行了阐述，并对实验结果进行分析，对性能及各项指标进行了比较，最后选择实时性好，精度高的交汇测量法作为非接触式六自由度检测系统中三维重构所采用的方法。
Because 6D motion of a floating body is often investigated in engineering design and scientific research, the 6D motion should be accurately measured. One six degree of freedom (6-DOF) detection system was developed which was financially supported by the National Planning Committee for the development of State Key Laboratories. Verification test shows that the system is acceptable for measuring the 6D motion of a floating body.
At first, the thesis presents the research situation, both domestic and overseas, and the feasibility and significance of the development of 6-DOF detection system. Then self-developed contacting 6-DOF detection system is described, the advantages of which are lighting, easy installation and operation, automatic data acquisition and processing with computer program. This kind of device can measure 6-DOF simultaneously, and had been applied in physical model test of coastal and offshore engineering, it can bo used to measure the motion status of ship or anchored floating body. In addition, the non-contacting 6-DOF detection system are described. Based on computer vision technique, this kind of device acquires the 2D coordinates of characteristic points through image processing. With the intersection measurement technique and solving linear equations, it reconstructs the 3D space coordinates and then calculates the 6-DOF of floating body. This non-contacting 6-DOF detection system consists of image processing and computer vision technique, and it has such advantages as real-time processing, high accuracy and integration of data acquisition, processing and analysis.
At last, the experiment steps and the set-up of the parameters of the two analyzing methods for the non-contacting 6-DOF detection systems are described in this thesis. Also, the measurement results are analyzed by comparing their performance and all kinds of indices. The intersection measurement method is the better one and used in 3-D reconstruction for the non-contacting 6-DOF detection system developed in this thesis.
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