技术领域technical field
本发明涉及激光跟踪技术，具体涉及一种激光跟踪系统与双目视觉测量系统相结合的高精度视觉导引激光跟踪方法。The invention relates to laser tracking technology, in particular to a high-precision vision-guided laser tracking method combining a laser tracking system and a binocular vision measurement system.
背景技术Background technique
激光跟踪技术在光束指向和成像视轴调整方面具有普遍的应用，如星间激光通信、红外对抗、激光多普勒测振、生物医学成像和复杂结构加工等诸多领域，其中实现三维动静态目标跟踪已经成为激光跟踪技术应用的重要方面，国内外均对此开展了相关研究和应用。Laser tracking technology is widely used in the adjustment of beam pointing and imaging boresight, such as inter-satellite laser communication, infrared countermeasures, laser Doppler vibration measurement, biomedical imaging and complex structure processing and many other fields. Among them, the realization of three-dimensional dynamic and static targets Tracking has become an important aspect of the application of laser tracking technology, and relevant research and application have been carried out at home and abroad.
以下在先技术给出了几种典型的三维目标跟踪方法。Several typical 3D target tracking methods are given in the following prior art.
在先技术(王伟国等，“用于三轴转台的卫星跟踪策略”，《光学精密工程》，2015年第23卷第3期，871-878页)针对三轴跟踪架结构无法控制激光光束跟踪半球空域内所有卫星的问题，提出采用地平式跟踪方式与水平式跟踪方式有机结合的卫星跟踪策略，可以保证卫星全程在三轴跟踪架的保精度跟踪范围内。此方法必须建立在卫星运行轨道已知的基础上，需要预先提供精确的在轨参数，因此难以推广至目标沿任意轨迹运动的被动跟踪场合。另外，三轴转台的结构相对复杂、控制要求较高，也是制约其后续发展的关键因素。The prior technology (Wang Weiguo et al., "Satellite Tracking Strategy for Three-axis Turntable", "Optical Precision Engineering", Volume 23, No. 3, 2015, pages 871-878) is unable to control the laser beam tracking for the structure of the three-axis tracking frame For the problem of all satellites in the hemispherical airspace, a satellite tracking strategy that combines the horizontal tracking method and the horizontal tracking method is proposed, which can ensure that the satellites are within the accuracy-guaranteed tracking range of the three-axis tracking frame. This method must be based on the known orbit of the satellite, and accurate on-orbit parameters need to be provided in advance, so it is difficult to extend to passive tracking where the target moves along an arbitrary trajectory. In addition, the structure of the three-axis turntable is relatively complex and requires high control, which is also a key factor restricting its subsequent development.
在先技术(Souvestre F.,etc.,“DMD-based multi-target laser tracking formotion capturing”,Proc.of SPIE,2010,7596:75960B)提出一种基于数字微镜器件和旋转双棱镜系统的目标跟踪方法。借助结构紧凑、转动惯量小、控制较为简单的光学机械装置，激光光束可以在较大的锥形视场内对动态目标进行运动捕获和跟踪。此方法对于跟踪目标的定位是通过光电探测器实现的，即借助探测到的散射光强度变化来判断目标的相对运动情况。但是，由于缺乏目标的空间位置信息，此方法在其他方面的拓展应用受到较大的限制。Prior art (Souvestre F., etc., "DMD-based multi-target laser tracking formotion capturing", Proc.of SPIE, 2010, 7596:75960B) proposed a target based on digital micromirror device and rotating double prism system tracking method. With the help of an optomechanical device with compact structure, small moment of inertia, and relatively simple control, the laser beam can capture and track the motion of a dynamic target in a large cone-shaped field of view. In this method, the location of the tracking target is realized through the photodetector, that is, the relative motion of the target is judged by the detected intensity change of the scattered light. However, due to the lack of spatial location information of the target, the extended application of this method in other aspects is greatly limited.
在先技术(杨荣骞等专利，申请号：201510111218.9，申请日2015年3月13日“大视场下手术器械的自动跟踪定位方法”)提出一种在大视场范围内自动跟踪并定位手术器械的方法。通过机械臂来控制双目视觉测量系统运动，可以在较大的视场内对手术器械进行跟踪和成像；再由双目视觉测量系统对手术器械成像信息的立体匹配，即可精确地定位手术器械。此方法并未涉及激光跟踪领域，但是其利用双目视觉测量系统获取空间位置信息以实现目标跟踪与定位的思路，可以为建立高精度视觉导引激光跟踪方法提供一定的参考依据。The prior technology (patents such as Yang Rongqian, application number: 201510111218.9, application date March 13, 2015 "Automatic Tracking and Positioning Method for Surgical Instruments under Large Field of View") proposes an automatic tracking and positioning of surgical instruments within a large field of view Methods. The movement of the binocular vision measurement system is controlled by the robotic arm, and the surgical instruments can be tracked and imaged in a large field of view; and then the stereo matching of the imaging information of the surgical instruments by the binocular vision measurement system can accurately position the surgical instrument. instrument. This method does not involve the field of laser tracking, but the idea of using the binocular vision measurement system to obtain spatial position information to achieve target tracking and positioning can provide a certain reference for the establishment of high-precision vision-guided laser tracking methods.
发明内容Contents of the invention
本发明的目的在于提供一种高精度视觉导引激光跟踪方法，通过双目视觉测量系统的测量信息引导旋转双棱镜系统控制激光光束的运动，使激光光束偏转至测定的目标位置。此方法充分结合了双目视觉测量系统能够在较大范围内三维测量的优势和旋转双棱镜系统可以实现高精度跟踪的特点，保证激光光束可以在双目视觉测量信息的导引下迅速、精确地跟踪三维动静态目标。作为拓展和延伸，此方法在其他领域也有重要的应用价值，如激光测振、激光焊接、激光切割、激光雕刻、激光钻孔和表面处理等。The purpose of the present invention is to provide a high-precision vision-guided laser tracking method. The measurement information of the binocular vision measurement system guides the rotating biprism system to control the movement of the laser beam, so that the laser beam is deflected to the measured target position. This method fully combines the advantages of the binocular vision measurement system in a large range of three-dimensional measurement and the characteristics of high-precision tracking of the rotating double prism system, ensuring that the laser beam can be quickly and accurately guided by the binocular vision measurement information. 3D dynamic and static targets can be accurately tracked. As an extension and extension, this method also has important application value in other fields, such as laser vibration measurement, laser welding, laser cutting, laser engraving, laser drilling and surface treatment.
本发明提出的高精度视觉导引激光跟踪方法，所述方法通过激光跟踪装置实现，激光跟踪装置由双目视觉测量系统、旋转双棱镜系统和激光发射器组成，双目视觉测量系统由第一相机1、第二相机2以及用于固定位姿的三脚架组成，第一相机1和第二相机2的图像采集速率必须设置为较高且一致，以便及时地、同步地捕获空间目标3的位置变化情况。第一相机1和第二相机2应当采取合理的布置形式，使其可以在尽可能大的成像视场内观察三维动静态目标；所述旋转双棱镜系统包括第一旋转棱镜4、第二旋转棱镜5、支撑结构和驱动装置；第一旋转棱镜4和第二旋转棱镜5分别固定于支撑结构上，且同轴布置，第一旋转棱镜4和第二旋转棱镜5的布置间距取决于激光跟踪的视场大小，且第一旋转棱镜4和第二旋转棱镜5的相对布置方案应根据实际情况确定。第一旋转棱镜4和第二旋转棱镜5分别连接相应的驱动装置；第一旋转棱镜4和第二旋转棱镜5能够通过各自的驱动装置独立地进行旋转运动。The high-precision vision-guided laser tracking method proposed by the present invention is realized by a laser tracking device. The laser tracking device is composed of a binocular vision measurement system, a rotating double prism system and a laser transmitter. The binocular vision measurement system consists of a first The camera 1, the second camera 2 and the tripod used to fix the pose, the image acquisition rate of the first camera 1 and the second camera 2 must be set to be high and consistent, so as to capture the position of the space object 3 in time and synchronously Changes. The first camera 1 and the second camera 2 should be arranged in a reasonable form so that they can observe three-dimensional dynamic and static targets in as large an imaging field of view as possible; Prism 5, supporting structure and driving device; the first rotating prism 4 and the second rotating prism 5 are respectively fixed on the supporting structure and arranged coaxially, and the arrangement distance between the first rotating prism 4 and the second rotating prism 5 depends on the laser tracking The size of the field of view, and the relative arrangement of the first rotating prism 4 and the second rotating prism 5 should be determined according to the actual situation. The first rotating prism 4 and the second rotating prism 5 are respectively connected to corresponding driving devices; the first rotating prism 4 and the second rotating prism 5 can independently perform rotational movement through their respective driving devices.
激光光束由激光发射器6发出，激光发射器6的安装位置必须保证激光光束的初始传播方向平行于旋转双棱镜系统的旋转轴；The laser beam is emitted by the laser emitter 6, and the installation position of the laser emitter 6 must ensure that the initial propagation direction of the laser beam is parallel to the rotation axis of the rotating double prism system;
具体步骤如下：Specific steps are as follows:
(1)采用合适的方法标定双目视觉测量系统，所述合适的方法为直接线性变换方法、Tsai两步标定法、张正友平面标定法或神经网络标定方法中任一种，记录第一相机1和第二相机2的内参数和外参数，并在三维动静态目标跟踪过程中保持第一相机1和第二相机2的相对位置固定不动；(1) Use a suitable method to calibrate the binocular vision measurement system. The suitable method is any one of the direct linear transformation method, the Tsai two-step calibration method, the Zhang Zhengyou plane calibration method or the neural network calibration method, and record the first camera 1 and the internal parameters and external parameters of the second camera 2, and keep the relative positions of the first camera 1 and the second camera 2 fixed during the three-dimensional dynamic and static target tracking process;
(2)第一相机1和第二相机2分别采集空间目标3在某一时刻的图像，并将两幅图像及时传输至上位机；(2) The first camera 1 and the second camera 2 collect images of the space object 3 at a certain moment respectively, and transmit the two images to the host computer in time;
(3)上位机接收第一相机1和第二相机2的采集图像后，对两幅图像进行图像处理和特征匹配，获得空间目标3在第一相机1和第二相机2的图像平面坐标系内的坐标，分别记为(x1,y1)和(x2,y2)；(3) After the host computer receives the captured images of the first camera 1 and the second camera 2, it performs image processing and feature matching on the two images, and obtains the image plane coordinate system of the space object 3 in the first camera 1 and the second camera 2 The coordinates within are recorded as (x1 , y1 ) and (x2 , y2 ) respectively;
(4)已知空间目标3在第一相机1和第二相机2的图像平面坐标系内的坐标分别为(x1,y1)和(x2,y2)，上位机可以基于双目视觉测量原理计算出空间目标3在双目视觉测量系统坐标系内的空间坐标(X1,Y1,Z1)；(4) It is known that the coordinates of the space object 3 in the image plane coordinate system of the first camera 1 and the second camera 2 are (x1 , y1 ) and (x2 , y2 ), respectively, and the host computer can be based on the binocular The principle of visual measurement calculates the spatial coordinates (X1 , Y1 , Z1 ) of the spatial target 3 in the coordinate system of the binocular vision measurement system;
(5)通过适当的坐标变换操作，上位机可以将空间目标3在双目视觉测量系统坐标系内的空间坐标(X1,Y1,Z1)转换为其在统一坐标系内的空间坐标(X2,Y2,Z2)，此处以旋转双棱镜系统坐标系为统一坐标系；(5) Through appropriate coordinate transformation operations, the host computer can convert the spatial coordinates (X1 , Y1 , Z1 ) of the spatial object 3 in the binocular vision measurement system coordinate system to its spatial coordinates in the unified coordinate system (X2 , Y2 , Z2 ), where the rotating biprism system coordinate system is the unified coordinate system;
(6)针对空间目标3在旋转双棱镜系统坐标系内的空间坐标(X2,Y2,Z2)，上位机通过旋转双棱镜系统逆向算法，求解出与上述空间坐标对应的第一旋转棱镜4的转角位置θ1和第二旋转棱镜5的转角位置θ2；(6) For the space coordinates (X2 , Y2 , Z2 ) of the space object 3 in the coordinate system of the rotating double prism system, the upper computer solves the first rotation corresponding to the above space coordinates through the reverse algorithm of the rotating double prism system The angular position θ 1 of the prism 4 and the angular position θ2 of thesecond rotating prism 5;
(7)上位机向第一旋转棱镜4和第二旋转棱镜5的运动控制单元发送指令，使第一旋转棱镜4和第二旋转棱镜5分别以合适的转速旋转至指定的转角位置θ1和θ2；(7) The upper computer sends an instruction to the motion control unit of the first rotating prism 4 and the second rotating prism 5, so that the first rotating prism 4 and the second rotating prism 5 rotate to the specified angular position θ1 and θ2 ;
(8)在旋转双棱镜系统的偏转作用下，激光发射器6发射的激光光束被指向空间目标3所在的位置；(8) under the deflection effect of the rotating double prism system, the laser beam emitted by the laser emitter 6 is directed to the position where the space target 3 is located;
(9)当空间目标3的位置在双目视觉测量系统的有效视场内发生变化时，第一相机1和第二相机2将会及时地捕获到空间目标3的最新位置信息，并按照步骤(1)至(8)的顺序引导第一旋转棱镜4和第二旋转棱镜5进行旋转运动，从而将激光光束的指向调整至空间目标3的最新位置，连续地实现对动态空间目标的大范围和高精度跟踪。(9) When the position of the space target 3 changes within the effective field of view of the binocular vision measurement system, the first camera 1 and the second camera 2 will capture the latest position information of the space target 3 in time, and follow the steps The order of (1) to (8) guides the first rotating prism 4 and the second rotating prism 5 to perform rotational movement, thereby adjusting the pointing of the laser beam to the latest position of the space object 3, and continuously realizing a large range of dynamic space objects and high-precision tracking.
本发明中，步骤(6)所述的旋转双棱镜系统逆向算法采用迭代法，下面具体介绍如何在给定目标点空间坐标的条件下，采用迭代法逆向求解旋转双棱镜系统中第一旋转棱镜4和第二旋转棱镜5的相应转角位置；为方便描述，预先定义第一旋转棱镜4和第二旋转棱镜5具有相同的折射率n和楔角α。In the present invention, the reverse algorithm of the rotating double prism system described in step (6) adopts an iterative method, and the following specifically introduces how to reversely solve the first rotating prism in the rotating double prism system under the condition of the given target point space coordinates by using an iterative method 4 and the corresponding corner positions of the second rotating prism 5; for the convenience of description, it is predefined that the first rotating prism 4 and the second rotating prism 5 have the same refractive index n and wedge angle α.
当已知目标点P的空间坐标为(XP,YP,ZP)且求解精度设置为ε时，其中ε为求解得到的实际点与目标点P(XP,YP,ZP)之间的绝对距离偏差，逆向求解过程应当在方程为Z＝ZP的平面上开展，求解步骤如下：When the spatial coordinates of the target point P are known to be (XP , YP , ZP ) and the solution accuracy is set to ε, where ε is the actual point obtained from the solution and the target point P(XP , YP , ZP ) Between the absolute distance deviation, the reverse solution process should be carried out on the plane where the equation is Z= ZP, and the solution steps are as follows:
(1)假设激光光束在第二旋转棱镜5上的出射点为N0(0,0,D1)，其中D1表示第一旋转棱镜4和第二旋转棱镜5的布置间距；(1) Assume that the exit point of the laser beam on the second rotating prism 5 is N0 (0,0, D1 ), wherein D1 represents the arrangement pitch of the first rotating prism 4 and the second rotating prism 5;
(2)以为第二旋转棱镜5上的出射光束向量，分别按照以下公式计算出射光束的俯仰角ρ0和方位角(2) to Be the outgoing beam vector on the second rotating prism5 , calculate the elevation angle ρ and the azimuth angle of the outgoing light beam according to the following formula respectively
式中XP、YP和ZP分别表示目标点P的三维坐标；In the formula, XP, YP and ZP respectively represent the three-dimensional coordinates of the target point P;
(3)假设初始状态下第一旋转棱镜4保持不动，即θ1＝0，仅令第二旋转棱镜5旋转至某特定的转角位置θ2s，以保证出射光束的俯仰角到达ρ0。此处θ2s的值为(3) Assuming that the first rotating prism 4 remains stationary in the initial state, that is, θ1 =0, only the second rotating prism 5 is rotated to a specific angular position θ2s to ensure that the pitch angle of the outgoing beam reaches ρ0 . Here the value of θ2s is
式中α为棱镜楔角，b1,b2,m均为中间量，且分别满足：和其中此时计算出射光束的方位角为In the formula, α is the wedge angle of the prism, and b1 , b2 , m are all intermediate quantities, and they respectively satisfy: with in At this time, the azimuth angle of the outgoing beam is calculated as
(4)令第一旋转棱镜4和第二旋转棱镜5同步旋转即可使出射光束的方位角达到则此时第一旋转棱镜4和第二旋转棱镜5的转角分别为：(4) make the first rotating prism 4 and the second rotating prism 5 rotate synchronously That is, the azimuth angle of the outgoing beam reaches Then the rotation angles of the first rotating prism 4 and the second rotating prism 5 are respectively:
(5)通过步骤(4)确定两棱镜转角(θ1,θ2)后，可以利用正向光线追迹法获得激光光束在第二旋转棱镜5上的出射点位置以及出射光束在平面Z＝ZP上的实际扫描点位置(5) After determining the rotation angles (θ1 , θ2 ) of the two prisms through step (4), the position of the exit point of the laser beam on the second rotating prism 5 can be obtained by using the forward ray tracing method And the actual scanning point position of the outgoing beam on the plane Z=ZP
(6)计算出射光束的实际扫描点与目标点之间的偏差，即并判断此时光束扫描点是否满足求解精度要求，即判断是否满足Δ＜ε。(6) Calculate the deviation between the actual scanning point of the outgoing beam and the target point, namely And judge whether the beam scanning point meets the solution accuracy requirement at this time, that is, judge whether Δ<ε is satisfied.
(7)若Δ≥ε，则以为第二旋转棱镜5上的出射光束向量，并重复步骤(2)至(7)的操作；若Δ＜ε，则终止求解过程，确定旋转双棱镜的最终转角解为(θ1,θ2)。(7) If Δ≥ε, then take is the outgoing beam vector on the second rotating prism 5, and repeat the operations of steps (2) to (7); if Δ<ε, then terminate the solution process, and determine the final rotation angle solution of the rotating double prism as (θ1 , θ2 ).
本发明中，在必要的情况下，还可将双目视觉测量系统固定于机械臂末端或者采用合适的光学系统以扩大视觉测量范围。In the present invention, if necessary, the binocular vision measurement system can also be fixed at the end of the mechanical arm or a suitable optical system can be used to expand the vision measurement range.
本发明中，第一旋转棱镜和第二旋转棱镜的驱动装置采用齿轮机构、蜗轮蜗杆机构或同步带机构中任一种。根据具体使用要求的不同，第一旋转棱镜4和第二旋转棱镜5可以采取完全相同的结构参数，或在部分结构参数上采用不同的参数配置，所述结构参数支撑包括折射率、楔角、通光孔径等。In the present invention, the driving device of the first rotating prism and the second rotating prism adopts any one of a gear mechanism, a worm gear mechanism or a synchronous belt mechanism. According to different specific usage requirements, the first rotating prism 4 and the second rotating prism 5 can adopt exactly the same structural parameters, or adopt different parameter configurations on some structural parameters. The structural parameters support include refractive index, wedge angle, clear aperture etc.
本发明中，根据此方法应用场合的不同，激光发射器6也应更换不同的类型，并配备必要的辅助装置。In the present invention, according to the different application occasions of this method, the laser emitter 6 should also be replaced with different types, and necessary auxiliary devices should be equipped.
本发明的有益效果在于：The beneficial effects of the present invention are:
1.本发明采用双目视觉测量系统获取准确的空间目标信息，可以主动地导引旋转双棱镜系统进行旋转运动，迅速地将激光光束指向调整至目标位置，从而有效克服传统的目标跟踪方法需要将较多时间耗费于区域扫描和搜索目标的缺陷，提高了动态目标跟踪的效率。1. The present invention uses a binocular vision measurement system to obtain accurate spatial target information, can actively guide the rotating dual prism system to perform rotational movement, and quickly adjust the laser beam pointing to the target position, thereby effectively overcoming the traditional target tracking method. The defect of spending more time in area scanning and searching for targets improves the efficiency of dynamic target tracking.
2.本发明借助迭代法来解决旋转双棱镜系统的逆向问题，可以在较低的运算时间成本下获得满足要求的求解精度，为建立针对空间动态目标的实时跟踪策略提供有效的途径。2. The present invention solves the inverse problem of the rotating double prism system by means of an iterative method, and can obtain a solution accuracy that meets the requirements at a relatively low operation time cost, and provides an effective way for establishing a real-time tracking strategy for spatial dynamic targets.
3.本发明充分结合了双目视觉测量系统和旋转双棱镜系统的优势，前者具有较大的成像视场和较高的测量精度，而后者具备高准确度的光束偏转功能，因此本发明可以在较大的空间范围内实现对动静态目标的高精度跟踪。3. The present invention fully combines the advantages of the binocular vision measurement system and the rotating double prism system. The former has a larger imaging field of view and higher measurement accuracy, while the latter has a high-accuracy beam deflection function. Therefore, the present invention can Realize high-precision tracking of dynamic and static targets in a large space range.
4.本发明主要由双目视觉测量系统和旋转双棱镜系统两部分组成，其控制过程相对简单。对于双目视觉测量系统，仅需利用上位机控制两台相机同步采集并及时传输图像；对于旋转双棱镜系统，只要求上位机控制旋转双棱镜分别旋转至指定的转角位置，因此本发明在具体实现方面可控性好，激光跟踪过程的执行效率高。4. The present invention is mainly composed of a binocular vision measurement system and a rotating double prism system, and its control process is relatively simple. For the binocular vision measurement system, it is only necessary to use the host computer to control the two cameras to acquire synchronously and transmit images in time; for the rotating double prism system, only the host computer is required to control the rotating double prism to rotate to the specified corner position respectively, so the present invention is specific In terms of realization, the controllability is good, and the execution efficiency of the laser tracking process is high.
5.本发明提出的双目视觉导引激光跟踪的方法在激光加工领域也具有重要的应用价值。对于形状极其复杂、难以通过数控加工的零部件，可以借助双目视觉主动地导引激光光束实施切割、雕刻、钻孔或焊接等操作，从而为特种加工行业提供了一种加工效率和加工精度均可达到较高要求的技术手段。5. The binocular vision-guided laser tracking method proposed by the present invention also has important application value in the field of laser processing. For parts with extremely complex shapes that are difficult to be processed by CNC, the laser beam can be actively guided by binocular vision to perform operations such as cutting, engraving, drilling or welding, thus providing a kind of processing efficiency and processing accuracy for the special processing industry. Higher technical requirements can be achieved.
附图说明Description of drawings
图1为高精度视觉导引激光跟踪方法的示意图，主要由双目视觉测量系统和旋转双棱镜系统组成。Figure 1 is a schematic diagram of a high-precision vision-guided laser tracking method, which is mainly composed of a binocular vision measurement system and a rotating double prism system.
图2为高精度视觉导引激光跟踪方法的实现流程图。Fig. 2 is a flow chart of the implementation of the high-precision vision-guided laser tracking method.
图3为旋转双棱镜系统中采用的楔形棱镜的结构图，其中：(a)为三维模型图，(b)为主视图，(c)为左视图。Fig. 3 is a structural diagram of a wedge prism used in the rotating double prism system, wherein: (a) is a three-dimensional model diagram, (b) is a main view, and (c) is a left view.
图4为旋转双棱镜系统中双棱镜的四种相对布置方案。Fig. 4 shows four relative arrangements of the double prisms in the rotating double prism system.
图5为一种旋转双棱镜系统逆向算法，即迭代法的示意图。FIG. 5 is a schematic diagram of an inverse algorithm for a rotating double prism system, that is, an iterative method.
图6为采用迭代法求解旋转双棱镜系统逆向问题的流程图。Fig. 6 is a flow chart of solving the inverse problem of the rotating double prism system by an iterative method.
图7为空间目标沿任意轨迹运动时激光导引跟踪过程的仿真图。Fig. 7 is a simulation diagram of the laser-guided tracking process when the space target moves along an arbitrary trajectory.
图8为双目视觉导引激光跟踪过程中第一旋转棱镜4和第二旋转棱镜5的转角曲线，即棱镜转角θ1和θ2随时间t的变化情况。Fig. 8 is the rotation angle curves of the first rotating prism 4 and the second rotating prism 5 during binocular vision guided laser tracking, that is, the variation of the prism rotation angles θ1 and θ2 with time t.
图中标号：1为第一相机，2为第二相机，3为空间目标，4为第一旋转棱镜，5为第二旋转棱镜，6为激光发射器。Numbers in the figure: 1 is the first camera, 2 is the second camera, 3 is the space object, 4 is the first rotating prism, 5 is the second rotating prism, 6 is the laser emitter.
具体实施方式detailed description
下面结合附图与实施例，详细地描述本发明的原理及其具体应用过程，但本发明的专利保护范围不限于此。The principle of the present invention and its specific application process will be described in detail below in conjunction with the accompanying drawings and embodiments, but the patent protection scope of the present invention is not limited thereto.
实施例1：Example 1:
本发明提供一种高精度视觉导引激光跟踪方法，可以在较大的空间范围内实现对三维动静态目标的准确、实时跟踪。在空间目标的运动过程中，由双目视觉测量系统实时采集目标图像，并基于双目视觉测量原理计算出目标的空间位置信息；针对目标的空间位置信息，采用合适的逆向算法高效地求解出与之相应的旋转双棱镜转角；再迅速地控制旋转双棱镜系统旋转至指定的转角位置，即可偏转激光光束使之指向空间目标所在的位置，保证对空间目标的高精度和实时性跟踪。The invention provides a high-precision vision-guided laser tracking method, which can realize accurate and real-time tracking of three-dimensional dynamic and static targets within a relatively large space range. During the movement of the space target, the target image is collected in real time by the binocular vision measurement system, and the spatial position information of the target is calculated based on the principle of binocular vision measurement; for the spatial position information of the target, an appropriate reverse algorithm is used to efficiently solve the Corresponding to the rotation angle of the rotating double prism; and then quickly control the rotation of the rotating double prism system to the specified rotation angle position, the laser beam can be deflected to point to the position of the space target, ensuring high precision and real-time tracking of the space target.
参见图1，本发明的目的通过以下几部分来实现：用于图像采集和传输的双目视觉测量系统，用于偏转激光光束的旋转双棱镜系统，用于发射激光光束的激光发射器，以及用于图像处理、问题求解和上位控制的上位机。根据双目视觉测量系统提供的空间目标位置信息，上位机可以及时地控制旋转双棱镜系统运动，使双棱镜到达指定的转角位置并偏转激光发射器产生的激光光束，从而确保激光光束的指向可以依据空间目标的位置变化而做出相应调整。Referring to Fig. 1, the object of the present invention is achieved by the following parts: a binocular vision measurement system for image acquisition and transmission, a rotating double prism system for deflecting a laser beam, a laser emitter for emitting a laser beam, and Host computer for image processing, problem solving and host control. According to the position information of the spatial target provided by the binocular vision measurement system, the host computer can control the movement of the rotating double prism system in time, so that the double prism reaches the specified corner position and deflects the laser beam generated by the laser transmitter, so as to ensure that the laser beam can be directed Make corresponding adjustments according to the position changes of space objects.
参见图2、图5、图6、图7和图8，高精度视觉导引激光跟踪方法应用于三维动态目标跟踪的详细步骤如下：Referring to Figure 2, Figure 5, Figure 6, Figure 7 and Figure 8, the detailed steps of the high-precision vision-guided laser tracking method applied to three-dimensional dynamic target tracking are as follows:
S1.采用张正友平面标定法标定双目视觉测量系统，并且为了便于对比观察，将第一相机1和第二相机2的图像采集速率均设置为2帧/秒；S1. Use the Zhang Zhengyou plane calibration method to calibrate the binocular vision measurement system, and in order to facilitate comparative observation, set the image acquisition rates of the first camera 1 and the second camera 2 to 2 frames per second;
S2.在t＝0s时刻，利用第一相机1和第二相机2分别采集空间目标3的图像，并将两幅图像传输至上位机；S2. At time t=0s, use the first camera 1 and the second camera 2 to collect images of the space object 3 respectively, and transmit the two images to the host computer;
S3.上位机对两幅图像进行处理和特征匹配，获得空间目标3在第一相机1的图像平面坐标系内的坐标为(x1,y1)，在第二相机2的图像平面坐标系内的坐标为(x2,y2)；S3. The host computer performs processing and feature matching on the two images, and obtains the coordinates of the space object 3 in the image plane coordinate system of the first camera 1 as (x1 , y1 ), and in the image plane coordinate system of the second camera 2 The coordinates inside are (x2 ,y2 );
S4.基于双目视觉测量原理，由空间目标3的图像平面坐标可以计算出空间目标3在双目视觉测量系统坐标系内的三维坐标为(X1,Y1,Z1)；S4. Based on the binocular vision measurement principle, the three-dimensional coordinates of the space target 3 in the binocular vision measurement system coordinate system can be calculated from the image plane coordinates of the space target 3 as (X1 , Y1 , Z1 );
S5.通过适当的坐标变换操作，将空间目标3在双目视觉测量系统坐标系内的三维坐标转换为其在图1所示的统一坐标系OXYZ(即旋转双棱镜系统坐标系)内的三维坐标，可得(X2,Y2,Z2)＝(51.9615,10.0000,389.5280)；S5. Convert the three-dimensional coordinates of the space object 3 in the binocular vision measurement system coordinate system to its three-dimensional coordinates in the unified coordinate system OXYZ shown in Figure 1 (that is, the rotating binocular prism system coordinate system) through appropriate coordinate transformation operations Coordinates, (X2 , Y2 , Z2 ) = (51.9615, 10.0000, 389.5280);
S6.针对空间目标的三维坐标信息，利用图5和图6所示的迭代法逆向求解第一旋转棱镜4的转角和第二旋转棱镜5的转角，结果为(θ1,θ2)＝(147.8928°,245.9437°)；S6. For the three-dimensional coordinate information of the space target, utilize the iterative method shown in Figure 5 and Figure 6 to reversely solve the angle of rotation of the first rotating prism 4 and the angle of rotation of the second rotating prism 5, the result is (θ1 , θ2 )=( 147.8928°, 245.9437°);
S7.上位机向旋转双棱镜系统的运动控制单元发送指令，使第一旋转棱镜4和第二旋转棱镜5分别旋转至θ1＝147.8928°和θ2＝245.9437°的转角位置；S7. The host computer sends an instruction to the motion control unit of the rotating double prism system to rotate the first rotating prism 4 and the second rotating prism 5 to the corner positions of θ1 =147.8928° and θ2 =245.9437° respectively;
S8.激光光束在旋转双棱镜系统的偏转作用下准确地指向空间目标3的位置；S8. The laser beam is accurately pointed to the position of the space target 3 under the deflection of the rotating double prism system;
S9.此后每隔0.5秒重复步骤S2至S8的操作，直至t＝10s时刻结束时，双目视觉测量系统依次获得空间目标3在21个不同位置的三维坐标如图7所示，并由此求解旋转双棱镜系统的相应转角曲线如图8所示，以保证激光光束能够始终跟踪空间目标3的位置变化。S9. Thereafter, the operations of steps S2 to S8 are repeated every 0.5 seconds until the end of the t=10s moment, the binocular vision measurement system sequentially obtains the three-dimensional coordinates of the space object 3 at 21 different positions as shown in Figure 7, and thus Solving the corresponding rotation angle curve of the rotating double prism system is shown in Fig. 8, so as to ensure that the laser beam can always track the position change of the space object 3.
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| CN201710540786.XACN107272015A (en) | 2017-07-05 | 2017-07-05 | High-precision vision guides laser tracking |
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