大视场三维姿态角光学测量系统设计  

3D Attitude Angel Optical Measurement System with Large Field of View

作　　者：张永胜 刘海珂 赫海涛 张亚军 ZHANG Yongsheng;LIU Haike;HE Haitao;ZHANG Yajun(China Nuclear Industry 23 Construction Co.,Ltd.,Beijing 101300,China)

机构地区：[1]中国核工业二三建设有限公司,北京101300

出　　处：《计算机测量与控制》2024年第8期20-26,共7页Computer Measurement &Control

基　　金：中核集团全产业链卡脖子攻关项目(CNI23-W-KY-2022-13)。

摘　　要：三维姿态角光学测量通过对物体表面的光学图像处理,实现对物体的角度姿态测量;为提高目标三维姿态角光学检测的准确性,提出基于立体视觉的大视场三维姿态角光学测量系统设计方法;利用双基准平行准直光源与姿态敏感器,通过图像传感器、USB接口芯片等部件实现分割光斑、质心定位等功能;在Linux内核基础上设计信号收集、数据移植、串口通信、姿态角分析4个软件模块,同时引入立体视觉算法探究靶标点和图像像点对应关联,运用视差定理确立空间角度的三维坐标,实现大视场三维姿态角测量;实验结果证明:所建系统姿态角标定误差小、时间同步性强,测量累计时间低于15 s,具有较高的测量精度和鲁棒性,为机械设备精密部件尺寸测量提供了一种有效的技术手段。The optical measurement of 3D attitude angles is to achieve the measurement of object angular posture by processing object's surface optical image.To improve the accuracy of 3D attitude angle optical detection,an optical measurement system design based on stereoscopic vision for large field of view is proposed.By using a dual baseline parallel collimating light source and attitude sensor,the system achieves the functions of spot segmentation and centroid positioning through components such as the image sensor and USB interface chip.On the basis of the Linux kernel,the system designs four software modules including the signal collection,data porting,serial communication,and attitude angle analysis.Meanwhile,a stereoscopic vision algorithm is introduced to explore the correspondence between target points and image pixels,a parallax theorem is used to establish the tridimensional coordinates of spatial angles,and realize the large-field 3D attitude angle measurement.Experimental results show that the system has small attitude angle calibration errors,strong time synchronization,and a measurement cumulative time of less than 15 s,with a high measurement accuracy and robustness,providing an effective technical means for measuring the precision parts of mechanical equipment.

关 键 词：立体视觉 三维姿态角 光学测量 系统构建 姿态敏感器 视差定理 

分 类 号：TH123[机械工程—机械设计及理论]