CN102519671B - A space pose measurement device based on binocular vision for measuring static balance of gyroscope - Google Patents

Abstract

The invention discloses a space position and gesture measuring device based on binocular vision and used for measuring gyroscope static balance, which comprises an X-axis image acquisition assembly (10) used for acquiring image information of a detected sample (40) in the X-axis direction, a Z-axis image acquisition assembly (30) used for acquiring image information of a detected sample (40) in the Z-axis direction, a support frame (1) and a background plate. The X-axis image acquisition assembly (10) and the Z-axis image acquisition assembly (30) are installed outside the support frame (1), and the background plate is installed inside the support frame (1). The measuring device acquires front view and plan view of the detected sample (40) through three cameras, does not need to be directly contacted with the detected sample (gyroscope), thereby generating no interference to gesture change of the detected sample and being beneficial for improving measurement accuracy.

Description

A space pose measurement device based on binocular vision for measuring static balance of gyroscope

technical field

The invention relates to a statically balanced measuring device, more particularly to a measuring device based on the binocular principle for measuring the statically balanced space pose of a gyroscope.

Background technique

The working principle of the gyroscope: the direction pointed by the motion axis based on the high-speed rotating rigid body will not change relative to the inertial space when it is not affected by external forces. It can use the momentum moment of the high-speed revolving body to measure the angular motion of the housing relative to one or two axes perpendicular to the rotation axis in the inertial space. Because its detection results do not depend on external reference signals, gyroscopes play a wide and irreplaceable role in aviation, spaceflight, navigation and land autonomous navigation.

The mass imbalance of the gyroscope will cause a large zero error (zero drift) in its output signal, and the zero error is one of the most important factors affecting the performance of the inertial system. Therefore, in the production process of the gyroscope, it must be tested for static balance. The traditional static balance test is carried out manually based on the naked eye or theodolite, the accuracy is difficult to be guaranteed, and the production efficiency is also very low.

Contents of the invention

The object of the present invention is to provide a binocular vision-based space pose measurement device for measuring the static balance of a gyroscope, which can track and identify the gyroscope rotor image in three directions, thereby realizing the Non-contact, high-precision, high-speed real-time measurement of gyroscope rotors.

A binocular vision-based space position and attitude measurement device for measuring the static balance of a gyroscope according to the present invention, the measurement device includes an X-axis image acquisition component for collecting image information in the X-axis direction of a tested sample (40) (10), a Z-axis image acquisition component (30) for acquiring image information in the Z-axis direction of the tested sample (40), a support frame (1) and a background plate;

The support frame (1) is a frame structure, and the first lead screw frame (11) is installed on the outside of the first plate surface (1A) of the support frame (1); the second plate surface (1B) of the support frame (1) ) is installed on the outside of the fourth background board (5); the inside of the third board surface (1C) of the support frame (1) is installed with the first background board (2); the fourth board surface of the support frame (1) The second background plate (3) is installed on the inner side of (1D); the third background plate (4) is installed on the bottom surface (1E) of the support frame (1); the first background plate (4) is installed on the top of the support frame (1). Five screw racks (15);

The X-axis image acquisition assembly (10) includes a first lead screw frame (11), a first lead screw (11B), a first motor (11A), a second lead screw frame (12), and a second lead screw (12B) , the second motor (12A), the first slider (21), the second slider (22) and the first camera (17); the first camera (17) is used to collect the main view;

One end of the first lead screw (11B) is installed in the A ball bearing (11E) of the A side plate (11C) of the first lead screw frame (11), and the A ball bearing (11E) is installed in the A side plate (11C) The other end of the first lead screw (11B) is connected to the output shaft of the first motor (11A) through a coupling; the first motor (11A) is installed on the first lead screw frame (11 ) on the B side plate (11D);

One end of the second lead screw (12B) is installed in the B ball bearing (12E) of the A side plate (12C) of the second lead screw frame (12), and the B ball bearing (12E) is installed in the A side plate (12C) In the B through hole (12F), the other end of the second lead screw (12B) is connected with the output shaft of the second motor (12A) through a coupling; the second motor (12A) is installed on the second screw frame (12 ) on the B side plate (12D);

The first slider (21) is installed on the back of the second screw frame (12), and the center screw hole on the first slider (21) is used for the first screw (11B) to pass through; the second slider (22) is equipped with a first camera (17); and the center lead screw hole on the second slider (22) is used for the second lead screw (12B) to pass through;

The Z-axis image acquisition assembly (30) includes a fifth lead screw frame (15), a fifth lead screw (15B), a fifth motor (15A), a sixth lead screw frame (16), and a sixth lead screw (16B) , the sixth motor (16A), the fifth slider (25), the sixth slider (26), the second camera (18), the third camera (19) and the camera bracket (20);

The camera bracket (20) is installed on the sixth slider (26), the second camera (18) and the third camera (19) are installed on the camera bracket (20), and the second camera (18) is used to collect the tested object The left top view of (40), the third camera (19) is used to collect the right top view of the tested piece (40);

One end of the fifth lead screw (15B) is installed in the E ball bearing (15E) of the A side plate (15C) of the fifth lead screw frame (15), and the E ball bearing (15E) is installed in the A side plate (15C) In the E through hole (15F), the other end of the fifth lead screw (15B) is connected to the output shaft of the fifth motor (15A) through a coupling; the fifth motor (15A) is installed on the fifth lead screw frame (15 ) on the B side plate (15D);

One end of the sixth lead screw (16B) is installed in the F ball bearing (16E) of the A side plate (16C) of the sixth lead screw frame (16), and the F ball bearing (16E) is installed in the A side plate (16C) In the F through hole (16F), the other end of the sixth lead screw (16B) is connected with the output shaft of the sixth motor (16A) through a coupling; the sixth motor (16A) is installed on the sixth screw frame (16 ) on the B side plate (16D);

The fifth slider (25) is installed on the back of the sixth screw frame (16), and the center screw hole on the fifth slider (25) is used for the fifth screw (15B) to pass through; the sixth slider A camera bracket (20) is installed on (26), and the center lead screw hole on the sixth slide block (26) is used for the sixth lead screw (16B) to pass through.

The binocular vision-based space pose measurement device for measuring the static balance of the gyroscope, the movement mode of its four motors is: the first wire is controlled by the first motor (11A) and the second motor (12A). The rod (11) and the second lead screw (12) produce synchronous movement, thereby pushing the first slider (21) and the second slider (22), so that the first camera (17) produces linkage in the X and Z directions; The fifth lead screw (15) and the sixth lead screw (16) are respectively controlled by the fifth motor (15A) and the sixth motor (16A) to generate synchronous motion, thereby pushing the fifth slider (25) and the sixth slider ( 26), so that the second camera (18) and the third camera (19) are linked in the X and Y directions.

The advantages of the binocular vision-based space pose measurement device of the present invention are:

(1) Since the measurement device is based on visual measurement and does not need to have direct contact with the tested sample (gyroscope), it will not interfere with the attitude change of the tested sample, which is extremely beneficial for improving the measurement accuracy.

(2) Since the current visual measurement technology can reach the sub-pixel level, the accuracy of the static balance measurement device designed with this technology is much higher than the current manual measurement method.

(3) The measuring device can realize the dynamic, high-speed and real-time measurement of the gyroscope rotor, which is of great help to improve the detection and production efficiency.

(4) The support frame with a cavity hexahedron structure is used as the spatial position positioning, and the vertical installation of the three screw frames and the support frame ensures that the image information of the cameras distributed on the three axes (front view, side view, top view) collection.

(5) The two screw frames on each axis are vertically installed in pairs, which is conducive to the movement of the camera mounted on the screw frames in the installation surface, so as to realize image acquisition from different angles of view.

Description of drawings

Fig. 1 is a structural diagram of the static balance measuring device of the present invention.

Fig. 1A is a structural view of the static balance measuring device of the present invention without a supporting frame.

Fig. 1B is a structural diagram of the support frame of the present invention.

Fig. 2 is a structural diagram of the X-axis image acquisition assembly of the present invention.

Fig. 3 is a structural diagram of the Z-axis image acquisition assembly of the present invention.

Fig. 4A is a schematic diagram of collecting images by using three cameras in the measuring device of the present invention.

Fig. 4B is a schematic diagram of the tested object being a cylinder and the cylinder being expanded.

Numbers in the figure: 1. Support frame; 1A. First board; 1B. Second board; 1C. Third board; 1D. Fourth board; 1E. Bottom board; 2. First background board; 3 .The second background plate; 4. The third background plate; 5. The fourth background plate; 11. The first screw frame; 11A. The first motor; 11B. The first screw; 11C.A side plate; Side plate; 11E.A ball bearing; 11F.A through hole; 12. Second screw frame; 12A. Second motor; 12B. Second screw; 12C.A side plate; 12D.B side plate; 12E. B ball bearing; 12F.B through hole; 15. Fifth screw frame; 15A. Fifth motor; 15B. Fifth screw; 15C.A side plate; 15D.B side plate; .E through hole; 16. Sixth screw frame; 16A. Sixth motor; 16B. Sixth screw; 16C.A side plate; 16D.B side plate; 16E.F ball bearing; 16F.F through hole; 17. First camera; 18. Second camera; 19. Third camera; 20. Camera bracket; 21. First slider; 22. Second slider; 25. Fifth slider; 26. Sixth slider ; 10. X-axis image acquisition component; 30. Z-axis image acquisition component; 40. Tested sample.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1 and shown in Fig. 1A, the present invention is a binocular vision-based space pose measurement device for measuring the static balance of a gyroscope. The X-axis image acquisition component 10 for information, the Z-axis image acquisition component 30 for acquiring image information in the Z-axis direction of the tested sample 40, and the support frame 1 and the background plate.

(1) Support frame

Referring to Fig. 1 and Fig. 1B, the support frame 1 is a frame structure, and the support frame 1 is made of tempered glass.

A first lead screw frame 11 is installed on the outer side of the first plate surface 1A of the support frame 1;

A fourth background plate 5 is installed on the outer side of the second plate surface 1B of the support frame 1;

A first background plate 2 is installed on the inner side of the third plate surface 1C of the support frame 1;

A second background plate 3 is installed on the inner side of the fourth plate surface 1D of the support frame 1;

A third background plate 4 is installed on the bottom surface 1E of the support frame 1;

A fifth lead screw frame 15 is installed on the upper top of the support frame 1 .

In the present invention, the supporting frame 1 is used to support the whole measuring device. The support frame 1 is designed as a hexahedral structure, which can facilitate the collection of image information of the tested piece 40 by the cameras on the X-axis and Z-axis, and is also a spatial positioning component for the tested piece 40 in space.

(2) Background board

Referring to Fig. 1 and Fig. 1A, the background plate in the present invention is used to enhance the image contrast and improve the measurement accuracy of the measuring device. The background board is made of black aluminum.

The first background plate 2 is installed on the inner side of the third plate surface 1C of the support frame 1;

The second background plate 3 is installed on the inner side of the fourth plate surface 1D of the support frame 1;

The third background plate 4 is installed on the bottom surface 1E of the support frame 1;

The fourth background plate 5 is installed on the inner side of the second plate surface 1B of the support frame 1 .

(3) X-axis image acquisition component 10

1, FIG. 1A, and FIG. 2, the X-axis image acquisition assembly 10 includes a first screw frame 11, a first screw 11B, a first motor 11A, a second screw frame 12, and a second screw 12B. , the second motor 12A, the first slider 21 , the second slider 22 and the first camera 17 . The first camera 17 is used to capture the front view of the object under test 40 .

One end of the first lead screw 11B is installed in the A ball bearing 11E of the A side plate 11C of the first lead screw frame 11 (the connection between the lead screw and the ball bearing is a conventional technology), and the A ball bearing 11E is installed on the A side plate 11C In the through hole 11F of A; the other end of the first lead screw 11B is connected to the output shaft of the first motor 11A through a coupling (not shown in the figure, the connection of the lead screw, the coupling and the motor is conventional technology); The first motor 11A is installed on the B-side plate 11D of the first screw frame 11 .

One end of the second lead screw 12B is installed in the B ball bearing 12E of the A side plate 12C of the second lead screw frame 12 (the connection between the lead screw and the ball bearing is a conventional technology), and the B ball bearing 12E is installed on the A side plate 12C In the B through hole 12F, the other end of the second lead screw 12B is connected to the output shaft of the second motor 12A through a coupling (not shown in the figure, the connection of the lead screw, the coupling and the motor is conventional technology); The second motor 12A is installed on the B-side plate 12D of the second screw frame 12 .

The first slider 21 is mounted on the back of the second screw frame 12 , and the central screw hole on the first slider 21 is used for the first screw 11B to pass through. Under the condition that the first motor 11A drives the first lead screw 11B to move, the first slider 21 also moves along the first lead screw 11B, but the movement of the first slider 21 causes the first camera 17 to translate along the X-axis direction sports.

The first camera 17 is installed on the second slider 22 , and the central screw hole on the second slider 22 is used for the second screw 12B to pass through. Under the condition that the second motor 12A drives the second lead screw 12B to move, the second slider 22 also moves along the second lead screw 12B, but the movement of the second slider 22 causes the first camera 17 to translate along the Y-axis direction sports.

The central lead screw hole on the first slider 21 is used for the first lead screw 11B to pass through.

The central lead screw hole on the second slider 22 is used for the second lead screw 12B to pass through.

In the present invention, the X-axis image acquisition assembly 10 utilizes the first lead screw frame 11 installed on the first plate surface 1A (X installation surface) of the support frame 1 to realize the image of the test piece 40 collected by the first camera 17. The image information is the front view.

(4) Z-axis image acquisition component 30

1, FIG. 1A, and FIG. 3, the Z-axis image acquisition assembly 30 includes a fifth lead screw frame 15, a fifth lead screw 15B, a fifth motor 15A, a sixth lead screw frame 16, and a sixth lead screw 16B. , the sixth motor 16A, the fifth slider 25 , the sixth slider 26 , the second camera 18 , the third camera 19 and the camera bracket 20 .

Camera support 20 is installed on the sixth slide block 26, and second camera 18 and the 3rd camera 19 are installed on the camera support 20, and second camera 18 is used for gathering the left top view of tested object 40, and the 3rd camera 19 is used for collecting The right top view of the test piece 40.

One end of the fifth lead screw 15B is installed in the E ball bearing 15E of the A side plate 15C of the fifth lead screw frame 15 (the connection between the lead screw and the ball bearing is a conventional technology), and the E ball bearing 15E is installed in the A side plate 15C In the E through hole 15F, the other end of the fifth lead screw 15B is connected to the output shaft of the fifth motor 15A through a coupling (not shown in the figure, the connection of the lead screw, the coupling and the motor is conventional technology); The fifth motor 15A is mounted on the B-side plate 15D of the fifth screw frame 15 .

One end of the sixth screw 16B is installed in the F ball bearing 16E of the A side plate 16C of the sixth screw frame 16 (the connection between the screw and the ball bearing is a conventional technology), and the F ball bearing 16E is installed in the A side plate 16C In the F through hole 16F, the other end of the sixth lead screw 16B is connected to the output shaft of the sixth motor 16A through a coupling (not shown in the figure, the connection of the lead screw, the coupling and the motor is conventional technology); The sixth motor 16A is installed on the B-side plate 16D of the sixth screw frame 16 .

The fifth slider 25 is mounted on the back of the sixth screw frame 16, and the central screw hole on the fifth slider 25 is used for the fifth screw 15B to pass through. Under the condition that the fifth motor 15A drives the fifth lead screw 15B to move, the fifth slider 25 also follows the movement on the fifth lead screw 15B, but the movement of the fifth slider 25 makes the second camera 18 and the third camera 19 Translational movement along the Y axis.

The camera bracket 20 is installed on the sixth slider 26 , and the central screw hole on the sixth slider 26 is used for the sixth screw 16B to pass through. Under the condition that the sixth motor 16A drives the sixth lead screw 16B to move, the sixth slider 26 also follows the movement on the sixth lead screw 16B, but the movement of the sixth slider 26 makes the second camera 18 and the third camera 19 Translational movement along the X axis.

The central lead screw hole on the fifth slider 25 is used for the fifth lead screw 15B to pass through.

The central lead screw hole on the sixth slider 26 is used for the sixth lead screw 16B to pass through.

In the present invention, the fifth screw frame 15 in the Z-axis image acquisition assembly 30 is installed above the support frame 1, and the fifth screw frame 15 is parallel to the bottom surface 1E of the support frame 1, thereby realizing the second camera 18 and The image information of the test piece 40 collected by the third camera 19 is a top view.

In the present invention, the first camera 17 , the second camera 18 and the third camera 19 use cameras with the same performance. For example, the camera adopts the Gazelle4.0 industrial camera from American Point Gray Company, the image resolution is 2048×2048, and the frame rate is 170fps; the lens adopts the LM8HC megapixel lens from Kowa, Japan, and the focal length is 8.5mm.

Referring to Fig. 4A and Fig. 4B, the movement of the measuring device of the present invention is mainly based on the real-time dynamic adjustment of the center of mass position of the rotor of the test piece 40 (gyroscope), and the steps are as follows:

In the first step, a helical line is printed on the side of the test piece 40 (gyroscope rotor), which is equivalent to the diagonal of a certain expanded rectangle on the side of the rotor (as shown in Figure 4B);

In the second step, image information is collected with the first camera 17 (collecting the front view), the second camera 18 (collecting the left top view) and the third camera 19 (collecting the right top view);

In the third step, the image information is transmitted to the computer, and the edge detection and contour recognition processing software is installed in the computer; after being processed by the edge detection and contour recognition processing software, it can be detected that the gyro rotor is on the two top views and the front view The formed side straight line features; the pitch and yaw angles of the gyro rotor can be converted by calculating the inclination angle of the side straight line of the cylinder in the front view and the top view;

The fourth step is to calculate the coordinates of the center of mass of the gyro rotor through the contour features detected by the views collected by the three cameras;

The fifth step is to use edge detection and contour recognition processing software to detect features such as circles, rectangles and arrows formed on the side view of the gyro rotor; combine the intersection position of the surface printing line and the side straight line in the front and top views and the side view The circle, rectangle and arrow positions in the figure can be converted to the roll angle of the gyro rotor.

In the measurement device designed in the present invention, when the position of the gyroscope rotor changes, the first camera 17, the second camera 18 and the third camera 19 all need to dynamically track the position of the center of mass of the rotor. The tracking process is as follows: first, according to the information of the first camera 17, the latest centroid position of the rotor is judged through image processing, and then the displacement of the rotor on the three coordinate axes of X, Y, and Z is calculated, and then the camera is controlled by four motors linkage. That is, the first lead screw 11 and the second lead screw 12 are controlled to move synchronously by the first motor 11A and the second motor 12A, thereby pushing the first slider 21 and the second slider 22, so that the first camera 17 generates X and Linkage in the Z direction; through the fifth motor 15A and the sixth motor 16A, respectively control the fifth lead screw 15 and the sixth lead screw 16 to generate synchronous motion, thereby pushing the fifth slider 25 and the sixth slider 26, so that the second The camera 18 and the third camera 19 generate linkage in the X and Y directions.

Claims (5)

1. one kind be used to measuring the statically balanced measurement mechanism of spatial pose based on binocular vision of gyroscope, it is characterized in that: this measurement mechanism includes be used to the X-axis image collection assembly (10) of the X-direction epigraph information that gathers tested sample (40), be used to Z axis image collection assembly (30) and bracing frame (1) and the background board of the Z-direction epigraph information that gathers tested sample (40);

Bracing frame (1) is a frame-shaped construction, and the first leading screw frame (11) is installed on the outside of the first plate face (1A) of bracing frame (1); The 4th background board (5) is installed on the outside of the second plate face (1B) of bracing frame (1); On the inboard of the 3rd plate face (1C) of bracing frame (1), the first background board (2) is installed; On the inboard of the 4th plate face (1D) of bracing frame (1), the second background board (3) is installed; The 3rd background board (4) is installed on the base plate face (1E) of bracing frame (1); On bracing frame (1), push up the 5th leading screw frame (15) is installed;

X-axis image collection assembly (10) includes the first leading screw frame (11), the first leading screw (11B), the first motor (11A), the second leading screw frame (12), the second leading screw (12B), the second motor (12A), the first slide block (21), the second slide block (22) and the first camera (17); Described the first camera (17) is be used to gathering the front view of test specimen (40);

One end of the first leading screw (11B) is arranged in the A ball bearing (11E) of A side plate (11C) of the first leading screw frame (11), and this A ball bearing (11E) is arranged in the A through hole (11F) of A side plate (11C); The other end of the first leading screw (11B) is connected with the output shaft of the first motor (11A) by shaft coupling; The first motor (11A) is arranged on the B side plate (11D) of the first leading screw frame (11);

One end of the second leading screw (12B) is arranged in the B ball bearing (12E) of A side plate (12C) of the second leading screw frame (12), this B ball bearing (12E) is arranged in the B through hole (12F) of A side plate (12C), and the other end of the second leading screw (12B) is connected with the output shaft of the second motor (12A) by shaft coupling; The second motor (12A) is arranged on the B side plate (12D) of the second leading screw frame (12);

The first slide block (21) is arranged on the back of the second leading screw frame (12), and the first slide block (21) Shang De center lead screw hole is passed for the first leading screw (11B); The first camera (17) is installed on the second slide block (22); And the second slide block (22) Shang De center lead screw hole is passed for the second leading screw (12B);

Z axis image collection assembly (30) includes the 5th leading screw frame (15), the 5th leading screw (15B), the 5th motor (15A), the 6th leading screw frame (16), the 6th leading screw (16B), the 6th motor (16A), the 5th slide block (25), the 6th slide block (26), second camera (18), the 3rd camera (19) and camera bracket (20);

Camera bracket (20) is arranged on the 6th slide block (26), second camera (18) and the 3rd camera (19) are installed on camera bracket (20), second camera (18) is be used to gathering the left vertical view of test specimen (40), and the 3rd camera (19) is be used to gathering the right vertical view of test specimen (40);

One end of the 5th leading screw (15B) is arranged in the E ball bearing (15E) of A side plate (15C) of the 5th leading screw frame (15), this E ball bearing (15E) is arranged in the E through hole (15F) of A side plate (15C), and the other end of the 5th leading screw (15B) is connected with the output shaft of the 5th motor (15A) by shaft coupling; The 5th motor (15A) is arranged on the B side plate (15D) of the 5th leading screw frame (15);

One end of the 6th leading screw (16B) is arranged in the F ball bearing (16E) of A side plate (16C) of the 6th leading screw frame (16), this F ball bearing (16E) is arranged in the F through hole (16F) of A side plate (16C), and the other end of the 6th leading screw (16B) is connected with the output shaft of the 6th motor (16A) by shaft coupling; The 6th motor (16A) is arranged on the B side plate (16D) of the 6th leading screw frame (16);

The 5th slide block (25) is arranged on the back of the 6th leading screw frame (16), and the 5th slide block (25) Shang De center lead screw hole is passed for the 5th leading screw (15B); On the 6th slide block (26), camera bracket (20) is installed, and the 6th slide block (26) Shang De center lead screw hole is passed for the 6th leading screw (16B).

2. according to claim 1 be used to measuring the statically balanced measurement mechanism of spatial pose based on binocular vision of gyroscope, it is characterized in that: by the first motor (11A) and the second motor (12A), control respectively the first leading screw (11) and the second leading screw (12) and produce and be synchronized with the movement, thereby promote the first slide block (21) and the second slide block (22), make the first camera (17) produce the interlock on X and Z direction; By the 5th motor (15A) and the 6th motor (16A), controlling respectively the 5th leading screw (15B) and the 6th leading screw (16B) produces and is synchronized with the movement, thereby promote the 5th slide block (25) and the 6th slide block (26), make second camera (18) and the 3rd camera (19) produce the interlock on X and Y-direction.

3. according to claim 1 be used to measuring the statically balanced measurement mechanism of spatial pose based on binocular vision of gyroscope, it is characterized in that: bracing frame (1) is selected the tempered glass material.

4. according to claim 1 be used to measuring the statically balanced measurement mechanism of spatial pose based on binocular vision of gyroscope, it is characterized in that: background board selects black aluminum material to make processing.

5. according to claim 1 be used to measuring the statically balanced measurement mechanism of spatial pose based on binocular vision of gyroscope, it is characterized in that: the first camera (17), second camera (18) and the 3rd camera (19) are selected the camera of identical performance, its image resolution ratio is 2048 * 2048, frame speed is 170fps, focal length 8.5mm.

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