部段在线测量系统(硕士)

部段在线测量系统(硕士)(论文40000字)
摘要
在我国提出了中国制造2025战略的时代背景下，传统制造业的生产方式也在逐步向数字化、自动化以及智能化的方向革新。在航空航天装备产品制造领域存在一类具有圆柱型特征的大型部段，由于该类大型部段自身结构特点、制造误差存在以及在总装对接时由于传统手动对接装配方式产生的末端误差累积等原因导致部段的对接质量难以控制。针对以上问题，本文研究部段的外形在线测量方法以及位姿追踪定位技术，为部段的对接装配提供姿态优化和自适应调整的信息参量，实现大部段对接的对接质量控制、对接姿态测量，提高对接效率。
首先本文通过对部段的整体外形结构特征进行分析，在此基础上提出了基于多传感器融合测量的总体方案。引入基于立体视觉的测量方法将部段的端面与部段的柱面外形进行分开测量，并给出各自的测量技术方案。为将多个双目测量系统的测量数据统一，提出了基于多面标定板的多相机联合标定算法。
其次，根据测量方案的部署，重点研究了部段表面标志点空间位置信息的测量方法。分析并设计了部段表面标志点、给出了标志点的检测算法；针对标志点的匹配问题，提出了两种标志点匹配算法；通过立体视觉原理实现了部段外形标志点的空间位置信息测量，并进行实验验证测量精度，分析了标志点大小对测量精度的影响，以及部段外形标志点的测量误差分布。 [来源：http://Doc163.com]
在此基础上，对比了多种柱面拟合算法，对部段柱面外形的几何形态参数进行拟合处理，分析了算法的优劣与适用性；通过与ATOS三维扫描仪进行对比测量实验，验证了测量方案的精度与有效性；给出了部段端面的拟合方法，并基于实测模型给出了部段局部坐标系的定义，以此为依据进行了部段位置与姿态的计算，实现了部段的追踪定位。
最后，本文开发了部段在线测量系统，从硬件平台搭建与软件开发框架两个层面介绍了系统的实现流程；搭建原型系统验证平台，进行了系统应用场景验证，分析了测量结果，验证了本文测量技术方案的有效性与在线测量系统的适用性，满足实际部段总装对接时的在线测量需求。

关键词：部段对接，在线测量，位姿计算，定位追踪
 
Abstract
In the background of ‘Made in China 2025’ plan, industrial production mode of traditional manufacturing is gradually innovating towards digitalization, automation and intellectualization. In the field of aerospace equipment manufacturing, there is a kind of large cylindrical featured cabin parts which docking quality is hard to control for reasons of their own structural characteristics, manufacturing errors and error accumulation at the end due to traditional manual docking methods. To solve the above problems, this paper studied on-line shape measurement method and pose tracking technology of the cabin. Referenced parameters were provided for assembly pose optimization and adaptive adjustment, enabling docking quality control and pose measurement of the cabin for improving the efficiency.

[来源：http://Doc163.com]

Firstly, in this paper,multi-sensor fusion based overall measurement scheme was proposed through the analysis of the overall configuration features of the cabin. Stereoscopic measurement method was introduced to measure the surface and end face of the cabin, and the measurement techniques were given, respectively. Overall structure of the on-line measurement system was designed, and the structure of key techniques and the design of hardware platform were discussed.Multi camera joint calibration algorithm based on multi calibration boards was proposed for measurement data uniform of a plurality of binocular measurement systems.
Secondly, focusing on the method of measuring space position information of markers on the cabin according to the measurement deployment, markers were designed and detection algorithm was given. For the matching of detected points, two kinds of points matching algorithm were given. Space position information of markers were measured using stereo vision principle, and measurement precision was verified by the experiments.Influence of marker size on the measurement accuracy and the measurement error distribution of markers were analyzed. [资料来源：http://doc163.com]
On this basis, geometric parameters of cylindrical cabin shape were fitted, and a variety of surface fitting algorithms were compared for analyzing strength and applicability. Fitting method of end face of the cabin was also given for defining the cabin local coordinate system based on measured data. Position and pose of the cabin were calculated in the system, and tracking and positioning of the cabin were realized.
Finally, an on-line measurement system of cabin was developed in this paper, introducing the realization of the system from both hardware platform and software development. A prototype verification platform was built to analyze measuring results through comparative measurement from ATOS 3D scanner.
It was verified that effectiveness of the solution and applicability of the on-line measurement system can fulfill the assembly needs of actual measurement of cabins.

Key words:Cabin Docking,On-line Measurement, Pose Calculation, Pose Tracking
 
目录 [资料来源：http://www.doc163.com]
摘要    I
Abstract    II
目录    IV
第 1 章    绪论    1
1.1研究背景    1
1.2国内外研究现状    2
1.2.1部段对接装配技术研究现状    2
1.2.2在线测量技术研究现状    3
1.3研究目的与研究意义    5
1.4研究内容与章节安排    6
1.4.1研究内容    6
1.4.2章节安排    7
第 2 章    部段在线测量系统方案设计    8
2.1部段特征分析    8
2.2在线测量总体技术方案    9
2.2.1双目立体视觉基本理论    10
2.2.2部段柱面外形测量方案    15
2.2.3部段端面外形测量方案    15
2.3系统总体设计    16
2.3.1系统关键技术体系结构    16
2.3.2系统硬件装置平台设计    18
2.4多相机的联合标定方法    19

[版权所有：http://DOC163.com]

2.4.1多面标定板设计    20
2.4.2多相机的联合标定算法    20
2.4.3多相机联合标定算法精度验证    23
2.5本章小结    25
第 3 章    部段表面标志点测量技术研究    26
3.1标志点的设计与检测    26
3.1.1标志点设计分析    26
3.1.2标志点检测    27
3.2基于立体视觉的标志点匹配    32
3.2.1基于极线与位置约束的点匹配算法    34
3.2.2三目相机极线约束下的点匹配算法    37
3.2.3匹配算法实验分析    39
3.3部段标志点位置计算与精度验证实验    40
3.3.1部段标志点三维空间位置计算    40
3.3.2部段表面标志点测量精度验证实验    42
3.4本章小结    50
第 4 章    部段几何形态测量与追踪定位技术    51
4.1部段外形测量    51
4.1.1部段柱面外形拟合算法对比    51 [版权所有：http://DOC163.com]
4.1.2部段定位孔测量    56
4.1.3部段端面外形测量    56
4.1.4部段外形测量对比验证    58
4.2部段位姿追踪定位技术    60
4.2.1建立部段局部坐标系    60
4.2.2部段位姿初始位姿计算    61
4.2.3部段位姿实时追踪定位    63
4.3本章小结    65
第 5 章    部段在线测量原型系统实现与应用验证    67
5.1系统硬件平台搭建    67
5.2系统软件框架    69
5.3系统应用场景验证    72
5.3.1部段对接装配概述    72
5.3.2在线测量系统功能实现    74
5.3.3实验结果与分析    77
5.4本章小结    78
第 6 章    总结与展望    80
6.1成果总结    80
6.2研究展望    80
参考文献    82