【作者】 胡鹏；

【导师】 朱煜；

【作者基本信息】 电子科技大学 ， 机械工程， 2018， 硕士

【摘要】 在中国制造2025提出以后,智能制造得到广泛重视。运动物体的六自由度位移测量技术是智能制造的重点研究方向之一。当前六自由度测量方案主流为基于图像的视觉测量。针对目前精度要求越来越高,目前视觉测量位移解算算法具有一定的局限性。为此,本文研究了基于动态图像信息的运动物体六自由度位移测量方法,开展了基于图像特征点和基于图像灰度值的位移测量方法等研究工作。图像特征点代表了相应的图像信息,本文首先选择了图像特征点进行六自由度位移测量。在众多特征点中,棋盘格角点具有误差较小、构造简单、制作方便等优点成为了首选。继而根据相机的成像模型、坐标转换关系等建立特征点图像坐标与六自由度位移之间的数学模型。在此基础上,基于运动的连续性对数学模型进行高精度的线性化,采用顺序求解法进行迭代求解六自由度位移。同时本文也对基于特征点的位移测量算法进行了仿真验证,从单自由度、三自由度、六自由度等方面验证了算法的精确性和有效性。最后搭建了实验平台对测量系统进行验证,实验结果表明基于图像特征点的六自由度位移测量系统的精确性和可行性。图像特征点只占了图像的一小部分,对图像信息的利用有限。根据图像灰度值来建立检测模型则每个图像点都可以建立相应的测量方程,可以有效的利用所有的图像信息。本文提出了基于图像灰度值的位移测量方法,首先通过设计目标物体来对图像的灰度值进行具体的规划,根据相机模型、成像关系等建立了灰度值和六自由度位移之间的数学模型,采用顺序求解法进行位移解算。并对基于图像灰度值的位移测量算法进行了仿真验证,从单自由度、三自由度、六自由度等方面验证了算法的精确性和有效性。最后通过实验验证了基于图像灰度值的位移测量系统的可行性。更多还原

【Abstract】 Intelligent manufacturing has been widely concerned because of Made in China 2025.The 6-DOF(six degree of freedom)displacement measurement of moving objects have became one of the most improtant research in intelligent manufacturing.Visual measurement is one of the best method for 6-DOF measurement.The algorithm of visual measurement has some limitations because that the requirements of the present precision is improving.Therefore,this paper studies the 6-DOF displacement measurement method of moving object based on dynamic image information.The key points of researches is the displacement measurement method based on image feature points and image gray values.The feature points of the image contain image information,which is the reason why it has been selected to measure the 6-DOF displacement.The chessboard corner point has been choosed by simple construction,convenient fabrication and small error.The mathematical model between the image coordinates of the feature points and the displacement of 6-DOF is established according to the imaging model of the camera and the coordinate transformation relation.The mathematical model is linearized with high precision based on the continuity of motion,and the 6-DOF displacement can be solved.The displacement measurement algorithm based on the feature points is simulated and verified from single DOF,3-DOF and 6-DOF.The experimental platform is built to verify the measurement system.The experimental results show that the 6-DOF displacement measurement system based on image feature points is accurate and feasible.Image feature points only account for a small part of the image,lots of image information is wasted.The advantage of establishing the measuremengt model according to grat value is that each image point can establish the corresponding measurement equation.This paper presents a displacement measurement method based on image gray value.The algorithm based on image gray value is simulated.The result shows the accuracy and effectiveness of the algorithm.更多还原