CN101566476A - Scene matching semi-physical simulation system based on mechanical arm with six degree of freedom - Google Patents
Scene matching semi-physical simulation system based on mechanical arm with six degree of freedom Download PDFInfo
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Abstract
The invention relates to a scene matching semi-physical simulation system based on a mechanical arm with six degree of freedom, consisting of hardware systems such as a simulation calculation sub-system, a mechanical arm sub-system with six degree of freedom, a photographing sub-system and a large-screen projection sub-system, and a scene reference map database, a scene matching software, a matching area selecting and a flight path planning software, and a relevant software of a mechanical arm motion model for simulating flight attitude. The actual work process of scene matching is simulated by using the mechanical arm with six degree of freedom, a camera, a large-screen projector and a mechanical arm motion model; a common PC is adopted as a simulation computer; the matching area selecting and the flight path planning software generates matching area data and orbit data; the dynamic characteristics of the system is accomplished by utilizing the mechanical arm motion model and the large-screen projector; the main errors (illumination and smoke) of the system are simulated by controlling the turning-on and turning-off of a fluorescent lamp; and the collection of real-time images, the control of the mechanical arm, the control of the projection speed, and a matching calculation are accomplished in the simulation computer, thus accomplishing the scene matching semi-physical simulation system. The system truly simulates the actual work process and the error of the scene matching, and the experimental result has significant meaning to the research and manufacture and the applications of scene matching engineering samples and can replace the flight-test experimental process in the actual research and development process, thus greatly improving the research and manufacture efficiency, lowering the research and manufacture cost, and having significant economic value and popularization value.
Description
Technical field
The present invention relates to a kind of semi-matter simulating system, particularly a kind of scene matching semi-physical simulation system based on the 6DOF mechanical arm, finish the hardware-in-the-loop simulation of scene coupling navigation positioning system, be applicable to geophysical field navigational system (comprising the Terrain-aided Navigation system) research.
Background technology
Airmanship has been widely applied in the military-civil field, as Aeronautics and Astronautics, medical science, communications and transportation, robot or the like.In the process of theoretical research, system design and the practical application of airmanship, system emulation is indispensable link.Emulation technology has very high scientific value, and can save R﹠D costs, and wherein semi-true object emulation technology has the advantages that to form a connecting link, and is a transient process from the theoretical research to the practical application.In the development process of navigational system, hardware-in-the-loop simulation is the authoritative experimental identification method that is only second to flight experiment.In aircraft guidance system design, type-approval process, all to rely on emulation experiment, make amendment and perfect.
Because modern war is had higher requirement to the reliability of aircraft and the accuracy at target of precision guided weapon.The simple inertial navigation system that relies on is difficult to meet the demands, and the navigational system that therefore must introduce other improves the precision and the reliability of system, and the scene that wherein has an independence mates that (Scene Matching, SM) technology is one of common technology.Advanced countries such as America and Europe use the scene matching technique to obtain huge economy and military benefit already.The scene matching technique can improve the accuracy at target of precision guided weapon, the accurate location of tactical air and the precision navigation and the bearing accuracy of accurately attacking precision and unmanned surveillance plane over the ground greatly as can be seen from the Gulf War, Kosovo War and the war in Iraq.In addition, the scene matching technique also is used to realize the accurate landing of spaceship.Aspect civilian, scene coupling airmanship also can be brought huge economic benefit, and Mobile Robotics Navigation and intelligent vehicle navigation also all need the scene matching technique.Under current severe form, particularly under the still unestablished situation of Beidou satellite navigation system, China should greatly develop the scene matching technique, with the navigation and positioning accuracy that improves China's military aircraft with accurately attack precision over the ground.
Now domesticly the scene matching technique successfully is used for precision guided weapon, but is cost with experiment in flight test repeatedly, about 2,000,000 Renminbi of the cost of 1 experiment in flight test, and research and development and experimental period are very long.For accelerating of the application of scene matching technique in fields such as Aeronautics and Astronautics, reduce R﹠D costs, shorten the R﹠D cycle, adopt the actual environment of taking a flight test of scene matching semi-physical simulation system simulation to experimentize significant.The method that the present invention adopts 6DOF mechanical arm, large screen projection, video camera, light and smog dispensing, scene coupling reference map database and software to combine realizes scene matching semi-physical emulation, can carry out the real-time and dynamic simulation.
Summary of the invention
The weak point of existing scene coupling investigative technique is: 1. pure Computer Simulation, can not state of flight that is virtually reality like reality and flight environment of vehicle, and experiment in flight test cost height.2. adopt the scene matching semi-physical simulation system of sand table, the sand table replacement cycle is long, the expense height, and take up space.
The technical problem to be solved in the present invention is: the deficiency that overcomes existing research scene matching technique, provide a kind of digitized degree height, extensibility strong, and can simulate the semi-matter simulating system of scene coupling real work process---based on the scene matching semi-physical simulation system of 6DOF mechanical arm.
The technical solution used in the present invention is: the scene matching semi-physical simulation system based on the 6DOF mechanical arm is characterized in that: be made up of simulation calculation subsystem 1, simulation calculation subsystem 2, scene reference map database, 6DOF mechanical arm subsystem, camera subsystem and large screen projection subsystem.Method of work based on the scene matching semi-physical simulation system of 6DOF mechanical arm, it is characterized in that: simulation calculation subsystem 1 is called in the scene reference map in the scene reference map database, and utilize coupling to distinguish and choose and trajectory planning software generation coupling district's data and flight path data, comprise the position of flight path, the size that coupling is distinguished, position and the reference map resolution data that mates the district; The T axle of mechanical arm connects firmly in CCD camera in the camera subsystem and the 6DOF mechanical arm subsystem; Simulation calculation subsystem 1 is according to the manipulator motion in the manipulator motion model control 6DOF mechanical arm subsystem, and the CCD camera in the drive camera subsystem moves together, and gather the movable information of mechanical arm in real time, comprise position and attitude data, and realtime image data; Simulation calculation subsystem 2 is according to the broadcasting speed of reference map in the carrier movement speed control large screen projection subsystem of coupling district data, flight path data and 1 setting of simulation calculation subsystem; CCD camera in the camera subsystem is gathered the benchmark image data on the screen in the large screen projection subsystem; Simulation calculation subsystem 1 carries out the space-time synchronous processing according to system logic to other subsystem, and finishes man-machine interaction, the calculating of scene coupling and result's demonstration and output; ON/OFF and dispense smoke by the daylight lamp in the control laboratory are come the simulated flight environment.
Utilize the real motion state of the motion simulation aircraft of 6DOF mechanical arm, utilize giant-screen to throw in the relative motion of the motion simulation aircraft of reference map image and control chart picture, utilize the image that moves on the video camera photographed screen, and by controlling the ON/OFF and the dispense smoke flying condition that is virtually reality like reality of lamp, the real-time diagram data of various noises has obtained superposeing, and utilize the simulation calculation subsystem to mate calculating, finish scene matching semi-physical simulation system.
The present invention can obtain following technique effect: 1. adopt 6DOF mechanical arm, large screen projection, video camera, scene reference map database and light and smoke simulation scene matching system, have the true error characteristic; 2. utilize coupling to distinguish and choose and trajectory planning software generation coupling district's data and any flight path data, need not carry out the aircraft lift-launch, realize the scene matching semi-physical system; 3. can be by track and special datum image in advance, finish scene matching semi-physical system real time dynamic simulation, and can have very strong versatility and extendability by changing the scene matching semi-physical emulation of the reference map realization any one location in the scene reference map database; 4. the scene matching semi-physical simulation system of Shi Xianing is simple in structure and cost is lower.
Description of drawings
Fig. 1 is the scene matching semi-physical simulation system structural representation based on the 6DOF mechanical arm of the present invention;
Fig. 2 is the composition structural drawing of 6DOF mechanical arm subsystem of the present invention;
Fig. 3 is the composition structural drawing of camera sub-system of the present invention;
Fig. 4 is the composition structural drawing of large screen projection subsystem of the present invention;
Fig. 5 is the scene matching semi-physical emulation schematic diagram based on the 6DOF mechanical arm of the present invention;
Fig. 6 is the structural drawing of the scene matching semi-physical simulation system software based on the 6DOF mechanical arm of the present invention;
Fig. 7 is the geometric model that utilizes the motion of 6DOF mechanical arm simulated flight device of the present invention;
Fig. 8 is the workflow diagram based on 6DOF mechanical arm scene matching semi-physical simulation system of the present invention.
Number in the figure and symbol description are as follows:
θ---camera lens is made the angle of circumference of conical motion;
L---the vertical range of camera lens focus and screen center's point;
R---on screen, produce the radius of circle track for conical motion;
The crab angle of α---simulated flight;
The angle of pitch of β---simulated flight.
Embodiment
As Fig. 1 and shown in Figure 5, the present invention is by simulation calculation subsystem 1 (1) and simulation calculation subsystem 2 (2), scene reference map database (3), 6DOF mechanical arm subsystem (4), camera subsystem (5) and large screen projection subsystem (6) are formed, simulation calculation subsystem 1 (1) is called in the scene reference map in the scene reference map database (3), and utilize the coupling district to choose and trajectory planning software generation coupling district's data and flight path data, the position that comprises flight path, the size in coupling district, the position and the reference map resolution data in coupling district, by network these data and aircraft flight speed (setting by man-machine interface) are sent to simulation calculation subsystem 2 (2), the rolling speed of simulation calculation subsystem 2 (2) control scene reference maps, and project on the giant-screen, simulation calculation subsystem 1 (1) is according to manipulator motion model (as shown in Figure 7) control mechanical arm (10) motion, system mechanical arm (10) drives ccd video camera (12) motion, and respectively by in switch board (7) and the movable information and realtime graphic information acquisition simulation calculation subsystem 1 (1) of image pick-up card (13), and then finish coupling and calculate mechanical arm, the result shows and output.
As shown in Figure 6, the software of semi-matter simulating system has adopted modular design method, comprising: interface module, software main control module, I/O module, matching algorithm module, interface resources module and hardware resource blocks.Interface module and interface resources module are finished user interface capabilities and are realized, comprise some dialog boxes and drawing function; The flow process of software main control module major control software, demonstration and preservation etc. when comprising user interactions logic control and judgement, each module interface control, data interaction and effectively checking of data, flow chart of data processing, fructufy, and by dialog box panel receiving system and user message, user instruction is responded, finish simulation flow control; The I/O module comprises BMP/JPEG Flame Image Process storehouse and ini file processing module, mainly according to the user data resource such as respective image in the loading of databases is set, and analyzes loading data according to corresponding format; The matching algorithm module comprises image processing algorithm module, matching algorithm module, matching algorithm integration module and course line matching module.The involved image Preprocessing Algorithm of scene coupling that the image processing algorithm module is mainly integrated; The matching algorithm module encapsulates scene coupling algorithms most in use, comprises average absolute difference algorithm, cross correlation algorithm, least square, Bayes's scheduling algorithm; Scene that the matching feature module is integrated is mated the control module of top layer: the real-time figure simulation when thick coupling, smart coupling, pure Computer Simulation; The control module of course line matching module full course line coupling when being flight; Hardware resource blocks contains image capture module and mechanical arm control module, mainly finishes to the control of mechanical arm and to the control of image acquisition.Control to image acquisition is by the image pick-up card bottom layer driving being carried out the control of secondary development realization to image acquisition.The control of mechanical arm is by setting up the motion state model of aircraft, controlling the motion of mechanical arm according to model.
As shown in Figure 8, the concrete steps of scene matching semi-physical emulation are: 1. initialization aircraft simulation parameter, and generation coupling district's data and trajectory planning data; 2. after the system works, manipulator motion, giant-screen rolls, the real-time images acquired of video camera; 3. according to positional information, the realtime graphic information of synchronous signal acquisition mechanical arm, and utilize the simulation calculation subsystem to finish the calculating of scene coupling, demonstration and result's output; 4. in simulation process, artificially ON/OFF daylight lamp and dispense smoke are simulated the influence of the meteorological condition of practical flight to matching precision.
As shown in Figure 2,6DOF mechanical arm subsystem (4) mainly is made up of switch board (7), base plate (8), base (9), mechanical arm (10) and flange (11).Base plate (8), base (9), mechanical arm (10) and flange (11) connect firmly successively, and base plate (8) plays stable effect, and base (9) is used to adjust the height of mechanical arm (10), and flange (11) is used for fixing ccd video camera (12).After system powers on, simulation calculation subsystem 1 (1) utilizes the geometric model of 6DOF mechanical arm simulated flight device motion to produce the manipulator motion control signal, and utilize network interface to send control signal to switch board (7), switch board (7) drives the motion of servomotor controller tool arm, and give simulation calculation subsystem 1 (1) with the information feedback of manipulator motion, comprise the position and the attitude data of manipulator motion.
As shown in Figure 3, camera subsystem (5) is made up of CCD camera (12) and image pick-up card (13), CCD camera (12) connects firmly on flange (11), and aligning giant-screen (15) is gathered, image pick-up card (13) utilizes pci interface and simulation calculation subsystem 1 (1) to communicate, and real time image collection is arrived in the simulation calculation subsystem 1 (1).
As shown in Figure 4, large screen projection subsystem (6) is made up of projector (14) and projection screen (15).Simulation calculation subsystem 2 (2) utilizes VGA line and projector (14) to communicate, and the synchronizing signal according to simulation calculation subsystem 1 (1) sends projects to the scene benchmark image on the giant-screen (15).
Simulation calculation subsystem 1 (1) of the present invention and simulation calculation subsystem 2 (2) available ordinary PC or industrial computer are realized, comprise serial port, IDE hard-disk interface, pci bus interface, keyboard and mouse interface, VGA demonstration and LCD display interface etc.
Claims (3)
1, based on the scene matching semi-physical simulation system of 6DOF mechanical arm, it is characterized in that: form by simulation calculation subsystem 1 (1), simulation calculation subsystem 2 (2), scene reference map database (3), 6DOF mechanical arm subsystem (4), camera subsystem (5) and large screen projection subsystem (6).
2, the scene matching semi-physical simulation system based on the 6DOF mechanical arm according to claim 1, it is characterized in that: described simulation calculation subsystem 1 (1) and simulation calculation subsystem 2 (2) are two ordinary PC or industrial computers with network interface, pci interface and VGA interface, simulation calculation subsystem 1 (1) be used for coupling district choose with trajectory planning, the setting of man-machine interaction parameter, steering order send, data acquisition, coupling is calculated and the result shows and output, simulation calculation subsystem 2 (2) is used to throw in the scene reference map; Scene reference map database (3) is the positive photograph image pattern that is provided by Mapping departments or specialty drawing mechanism; 6DOF mechanical arm subsystem (4) mainly is made up of switch board (7), base plate (8), base (9), mechanical arm (10) and flange (11), switch board (7) is according to the movement instruction of simulation calculation subsystem 1 (1), drive servomotor controller tool arm (10) motion, and movable information returned to simulation calculation subsystem 1 (1), base plate (8) plays stable effect, base (9) is used to adjust the height of mechanical arm (10), and the T axle of flange (11) and mechanical arm (10) connects firmly; Camera subsystem (5) is made up of CCD camera (12) and image pick-up card (13), CCD camera (12) connects firmly the flange (11) in 6DOF mechanical arm subsystem, and aim at the collection of giant-screen subsystem, image pick-up card (13) is sent to digitized image in the simulation calculation subsystem 1 (1); Large screen projection subsystem (6) is made up of projector (14) and projection screen (15), and simulation calculation subsystem 2 (2) utilizes projector (14) that the scene reference map is rendered on the giant-screen (15), gathers for the CCD camera (12) in the camera subsystem (5).
3, the method for work of the scene matching semi-physical simulation system based on the 6DOF mechanical arm according to claim 1, it is characterized in that: simulation calculation subsystem 1 (1) is called in the scene reference map in the scene reference map database (3), and utilize coupling to distinguish and choose and trajectory planning software generation coupling district's data and flight path data, comprise the position of flight path, the size that coupling is distinguished, position and the reference map resolution data that mates the district; The T axle of mechanical arm (10) connects firmly in CCD camera in the camera subsystem (5) and the 6DOF mechanical arm subsystem; Simulation calculation subsystem 1 (1) is according to the manipulator motion in the manipulator motion model control 6DOF mechanical arm subsystem (4), and the CCD camera that drives in the camera subsystem (5) moves together, and gather the movable information of mechanical arm in real time, comprise position and attitude data, and realtime image data; Simulation calculation subsystem 2 (2) is according to the broadcasting speed of reference map in the carrier movement speed control large screen projection subsystem (6) of coupling district data, flight path data and 1 (1) setting of simulation calculation subsystem; CCD camera in the camera subsystem (5) is gathered the benchmark image data on the screen in the large screen projection subsystem (6); Simulation calculation subsystem 1 (1) carries out the space-time synchronous processing according to system logic to other subsystem, and finish man-machine interaction, the scene coupling is calculated and the result shows and output; ON/OFF and dispense smoke by the daylight lamp in the control laboratory are come the simulated flight environment.
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| CN101929863A (en) * | 2010-08-19 | 2010-12-29 | 中国航空工业第六一八研究所 | Real-time graph generation method for scene matching navigation technology |
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| CN101929863A (en) * | 2010-08-19 | 2010-12-29 | 中国航空工业第六一八研究所 | Real-time graph generation method for scene matching navigation technology |
| CN103926845A (en) * | 2014-04-17 | 2014-07-16 | 哈尔滨工业大学 | Ground-based simulation system for space robot visual servo to capture moving target and simulation method |
| CN103926845B (en) * | 2014-04-17 | 2016-08-24 | 哈尔滨工业大学 | The ground simulation system of robot for space visual servo capture movement target and analogy method |
| CN103926847A (en) * | 2014-05-04 | 2014-07-16 | 威海正棋机电技术有限公司 | Robot simulation system |
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| CN103977559B (en) * | 2014-05-23 | 2017-10-17 | 北京智谷睿拓技术服务有限公司 | Exchange method and interactive device |
| CN104778872A (en) * | 2015-04-03 | 2015-07-15 | 上海交通大学 | Simulation testing and training platform for mechanical arm teleoperation human-computer interaction study |
| CN104898653B (en) * | 2015-05-18 | 2018-07-03 | 国家电网公司 | A kind of flight control system |
| CN104898653A (en) * | 2015-05-18 | 2015-09-09 | 国家电网公司 | Flight control system |
| CN105526914A (en) * | 2015-12-29 | 2016-04-27 | 天津大学 | A simulation system for oblique aerial photography with six degrees of freedom |
| CN105526914B (en) * | 2015-12-29 | 2018-03-16 | 天津大学 | A kind of six degree of freedom aviation oblique photograph simulation system |
| CN107784624B (en) * | 2017-09-28 | 2020-12-04 | 北京华航无线电测量研究所 | Method for making matching area image |
| CN107784624A (en) * | 2017-09-28 | 2018-03-09 | 北京华航无线电测量研究所 | A kind of preparation method of Matching band image |
| CN108427324A (en) * | 2018-04-12 | 2018-08-21 | 南京邮电大学 | A kind of flexible mechanical arm control emulation platform and its emulation mode |
| CN109318228A (en) * | 2018-09-27 | 2019-02-12 | 中国矿业大学 | Desktop grade sixdegree-of-freedom simulation rapid control prototyping experimental system |
| CN109318228B (en) * | 2018-09-27 | 2021-07-09 | 中国矿业大学 | Desktop-level six-degree-of-freedom mechanical arm rapid control prototype experimental system |
| CN109459254B (en) * | 2018-10-22 | 2020-05-29 | 东北大学 | Multi-joint robot dynamics semi-physical simulation platform |
| CN109459254A (en) * | 2018-10-22 | 2019-03-12 | 东北大学 | A kind of articulated robot dynamics semi-physical simulation platform |
| CN112631145A (en) * | 2020-11-20 | 2021-04-09 | 福州大学 | Semi-physical simulation system for unmanned aerial vehicle vision combined navigation test |
| CN112631145B (en) * | 2020-11-20 | 2022-05-17 | 福州大学 | Semi-physical simulation system for unmanned aerial vehicle vision combined navigation test |
| CN112752022A (en) * | 2020-12-25 | 2021-05-04 | 中科星通(廊坊)信息技术有限公司 | Simulated aerial photography system and control method |
| CN113658340A (en) * | 2021-07-07 | 2021-11-16 | 中国人民解放***箭军工程大学 | Semi-physical simulation system of hypersonic aircraft navigation and control system |
| CN113658340B (en) * | 2021-07-07 | 2024-01-02 | 中国人民解放***箭军工程大学 | Semi-physical simulation system of hypersonic aircraft navigation and control system |
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