为了提高航空航天生产装配的可靠性,设计一种基于变焦单目视觉的大型筒框对接的同轴度测量方法,通过识别框体和筒体上的圆形特征,建立同轴度基准轴线,计算筒体相对框体的同轴度.基于改进Canny算法设计一种复杂环境下框体和筒体圆形特征边缘提取方法;运用梯度下降法计算基准圆心校准基准轴线;根据筒段件调姿需求,运用坐标系转换方法求解出筒体竖直径向及水平径向上的同轴度,将同轴度转换为调姿量输出.开展筒段调姿实验对上述方法有效性及精度进行验证,结果表明:该方法对于直径达到2 m的筒框测量精度可达1.50 mm.
Coaxiality Measurement and Pose Adjustment of Large Barrel Frame Docking Based on Zoom Monocular Vision
To improve the reliability of aerospace production and assembly,a coaxiality measurement method based on zoom monocular vision for large barrel frame docking was designed.The coaxiality reference axis was established by identifying the circular features of the frame and the cylinder,and the coaxiality of the cylinder relative to the frame was calculated.Based on improved Canny algorithm,a feature edge extraction method for box and cylinder in complex environment was designed.Gradient descent method was used to calculate the center of reference and calibrate the axis of reference.According to the pose adjustment requirements of the cylinder segment,the coaxiality in vertical and horizontal radial directions of the cylinder was solved by using the coordinate system transformation method,and the coaxiality was converted into the pose adjustment output.A cylinder pose adjustment experiment was conducted to verify the effectiveness and accuracy of the above method.The results show that the measuring accuracy of the designed method is as high as 1.50 mm for a cylinder frame with a diameter of 2 m.
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