CN116242318A - Synchronous control device and method for optical photographing deformation measurement - Google Patents

Synchronous control device and method for optical photographing deformation measurement Download PDF

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Publication number
CN116242318A
CN116242318A CN202211705009.3A CN202211705009A CN116242318A CN 116242318 A CN116242318 A CN 116242318A CN 202211705009 A CN202211705009 A CN 202211705009A CN 116242318 A CN116242318 A CN 116242318A
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China
Prior art keywords
measurement
camera
data
control device
control
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CN202211705009.3A
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Inventor
吴东亮
刘泽元
柳晓宁
杨晓宁
廖韬
简亚彬
朱琳
文晶
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Beijing Institute of Spacecraft Environment Engineering
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Beijing Institute of Spacecraft Environment Engineering
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Priority to CN202211705009.3A priority Critical patent/CN116242318A/en
Publication of CN116242318A publication Critical patent/CN116242318A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses an optical photographing deformation measurement synchronous control device and method, comprising a multi-camera synchronous trigger device, a measurement field construction device, measurement data preprocessing and a centralized control method, wherein the multi-camera synchronous trigger device realizes full-automatic data acquisition control of a camera through multi-channel timing interval TTL level triggering, the measurement field device combines the requirement of a camera measurement field, adopts a gantry cantilever turntable and a camera bearing turntable, constructs an optimized photographing measurement field through joint control of revolution and autorotation of the camera, and the measurement data preprocessing carries out automatic data segmentation and data sample establishment based on a measurement field construction mode to realize establishment of an optimized measurement data unit. The method has high reliability and long continuous working time, greatly improves the processing speed and the processing precision of the measured data, and can provide effective technical equipment and means for the automatic control of the large-scale structure photographic deformation measurement in the military and civil industry.

Description

Synchronous control device and method for optical photographing deformation measurement
Technical Field
The invention belongs to the technical field of spacecraft ground test and experiment, and particularly relates to an optical photographic deformation measurement synchronous control device and method for experiment.
Background
In spacecraft and other military product testing, structural deformation measurement is an important test parameter. The structural deformation measurement modes commonly used in the military industry at present mainly comprise strain sensing, optical fiber measurement, optical photogrammetry and the like. The characteristics of optical photogrammetry, non-contact type, multiple measuring point objects, high measuring precision and the like are widely applied to the measurement of the structural deformation of the spacecraft.
Along with the improvement of the structural size, the structural complex form and the measurement requirement of a product, the traditional single equipment, the construction of a manual deformation measurement field and a manual data acquisition mode are difficult to meet the measurement requirements of large size, short period, high precision and long time of the structural deformation of a large spacecraft.
Disclosure of Invention
The invention aims to provide an optical photographing deformation measurement synchronous control device, which can realize the construction of the optimal deformation measurement fields of a plurality of sets of cameras and the highly reliable and full-automatic control of adjustable measurement data parameters thereof through the design and the control of an automatic camera triggering device and a measurement field device.
The invention is realized by the following technical scheme:
an optical photographing deformation measurement synchronous control device, comprising:
the measuring field construction device comprises a portal frame and a rotatable cross cantilever, wherein the rotatable cross cantilever is arranged at the top of the portal frame and is arranged to be rotatable around an axis vertical to the ground, and a camera is arranged at the end part of the rotatable cross cantilever;
a front end device comprising the camera, and a power system to rotate the rotatable cross cantilever;
and the multi-camera synchronous triggering device is used for controlling the front-end equipment to realize synchronous data acquisition.
Further, the measuring field construction device further comprises an autorotation platform, the camera is mounted on the rotatable cross cantilever through the autorotation platform, and the autorotation platform can drive the camera to rotate around the axis of the shooting direction of the camera; the front-stage equipment further comprises a power system for controlling the autorotation turntable to rotate.
Further, the rotatable cross cantilever is composed of two perpendicular beams, and four vertexes of the rotatable cross cantilever are respectively provided with one camera.
Further, the rotatable cross cantilever and the self-rotating table are automatically linked, and full automation of the construction of a measuring field is realized through the rotation speed proportioning combination, so that the reliability of the system is improved.
Further, the rotatable cross cantilever beam is provided with an initial limiter, the rotatable cross cantilever beam starts to time from the initial point to the final point, stops when the movement is finished, and starts to rotate after the timer reaches the period time, so that the cantilever angle accumulation error caused by the rotation speed error of the motor in long-time reciprocating movement is eliminated.
Further, a blank area is arranged at the stroke end of the rotatable cross cantilever.
The implementation of the blank area is that a physical structure is combined with program setting, when the motion range is set through the program, an angle space of 5-10 degrees is reserved at the end point, for example, when the motion period is selected to 360s, namely the rotating speed is 1 DEG/s, the motion range is set to 0-355 ℃, the cantilever stops moving after moving 355 DEG, and the rotation starts when the timer reaches 360 s. The purpose of the blank area is to eliminate the accumulation of the movement errors of the hardware motor by utilizing the characteristic of high precision of the software program timing, and ensure that the time of each cycle is a fixed value.
Further, the multi-camera synchronous triggering device comprises a remote master station and a slave station, wherein the remote master station is in communication connection with the slave station, the remote master station is a centralized control device, and under the default condition, the remote master station sends out an instruction, and the instruction is forwarded through the slave station to control front-end equipment to complete shooting; when the communication between the remote master station and the slave station is interrupted, the remote master station is automatically switched to the state that the slave station directly controls the front-end equipment to complete shooting; the front-end equipment can be manually switched to the slave station to control the front-end equipment according to the requirement, and the image acquisition of a plurality of cameras is synchronously controlled.
An optical photographing deformation measurement synchronous control method based on the optical photographing deformation measurement synchronous control device specifically comprises the following steps:
the construction period of the measuring field is further adjusted through the arrangement of the angular velocity of the cantilever beam movement; meanwhile, the coverage coefficient of the measurement view field is further improved, and the data effectiveness and the data quality are improved;
measurement data preprocessing, automatic data segmentation and data sample establishment are carried out based on measurement field parameters, and establishment of optimized measurement data units is realized;
the measurement field parameters comprise a measurement period and a measurement starting time, and the data preprocessing software determines the segmentation duration of the camera measurement data packet according to the measurement period.
The centralized control realizes man-machine interaction of synchronous control of camera deformation measurement, and the design and control of the multi-camera synchronous triggering device and the measuring field construction device realize high-reliability and full-automatic control of construction of the optimal deformation measuring fields of a plurality of sets of cameras and adjustable measurement data parameters of the optimal deformation measuring fields.
Further, the measurement data preprocessing is specifically to preprocess system measurement data according to a preset optimal measurement field measurement period, that is, measurement image data of a plurality of cameras in the same measurement period time period are combined and grouped to form a data packet of each measurement period, and the processing speed of later-stage precision analysis of the measurement data is improved.
Further, the centralized control is specifically implemented by centralized setting of the multi-camera synchronous triggering device, the measuring field construction device and the data preprocessing period, so that one-key synchronous starting and stopping of the devices and data processing are realized, the operation convenience of the deformation measurement synchronous control device is improved to the greatest extent, and the measurement data error caused by asynchronous starting of different devices can be reduced.
The invention provides the synchronous control device and the method for the optical photographic deformation measurement, which meet the requirements of the structural deformation measurement of the large spacecraft, realize the expansion of a deformation measurement field of view and the improvement of deformation measurement frequency through the automatic design of the construction of a deformation measurement field and the acquisition of camera measurement data, realize long continuous working time, realize the high reliability of high-precision measurement data through the combination with a data preprocessing and centralized linkage control method, greatly change the intelligent level of the optical photographic deformation measurement, greatly improve the processing precision of the measurement data and provide effective technical equipment and means for the automatic control of the large structural photographic deformation measurement in the military and civil industry.
Drawings
Fig. 1 is a control architecture diagram of an optical distortion measurement synchronization control apparatus according to the present invention.
FIG. 2 is a diagram of a measurement field construction device of the synchronous control device for optical camera deformation measurement according to the present invention;
FIG. 3 is a schematic diagram of the centralized control of the synchronous control device for optical photogrammetry according to the present invention;
fig. 4 is a man-machine interaction interface of the synchronous control device for optical photographing deformation measurement of the invention.
Detailed Description
The following description is given of the embodiments of the present invention, which are further explained below by way of the embodiments. Of course, the following detailed description is merely illustrative of various aspects of the invention and should not be taken as limiting the scope of the invention.
Fig. 1 is a control architecture diagram of an optical photographing deformation measurement synchronous control device, as shown in fig. 1, the control architecture adopts a master-slave dual-redundancy architecture, master control software and camera Client programs together form master station software, each set of camera workstation is configured with 1 set of camera HttpServer program, as slave station software, under the default condition, the master station software distributes control instructions to the camera HttpServer program through the camera Client programs, when the camera Client programs and the camera HttpServer programs have communication faults, the master station software and the slave station software are interrupted, the camera HttpServer programs can be automatically switched into a slave station control mode, the front-end optical camera equipment is autonomously controlled without being controlled by the master station, and measurement data are saved to the slave station.
FIG. 2 is a diagram of a measuring field construction device of an optical photographing deformation measurement synchronous control device, as shown in FIG. 2, wherein the measuring field construction device comprises a gantry bracket, a cross cantilever and a camera bearing turntable, and the gantry bracket provides a field of view height for a large-size structural space of a camera measuring field; the cross cantilever is used for suspending 4 camera turntables, and the construction time of the full measurement field under the condition of the minimum rotation angle can be controlled by adjusting the rotation angle speed of the cross cantilever, namely, the measurement period of deformation measurement data is adjusted by adjusting the revolution speed; the camera turntable is a camera autorotation bearing device, the rotating direction of the turntable is perpendicular to the shooting direction, and the coverage coefficient of the measurement view field, the data effectiveness and the quality are further improved.
Fig. 3 is a schematic diagram of centralized control of an optical photographing deformation measurement synchronous control device, as shown in fig. 3, the centralized control software is simultaneously responsible for linkage control of camera data acquisition software, a camera revolution mechanism and a plurality of camera rotation mechanisms, and through multi-mode matching of camera triggering, camera measurement field rotation speed and revolution speed, test requirements of different structural deformation measurement objects, different measurement periods and measurement accuracy can be met, and full-automatic operation of structural deformation measurement can be realized.
Fig. 4 is a man-machine interaction interface of an optical photographing deformation measurement synchronous control device, as shown in fig. 4, the man-machine interaction interface designs functions of camera triggering control mode, data preprocessing period, camera revolution and rotation control, wherein a plurality of typical travel period modes are set according to cantilever revolution requirements, time and angle accumulation errors caused by long-time continuous movement are avoided through a travel period timer, and the man-machine interaction performance is enhanced through dynamic display of current triggering mode, cantilever movement state information and position.
While the invention has been particularly shown and described with reference to a particular embodiment thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. An optical photographing deformation measurement synchronization control device, comprising:
the measuring field construction device comprises a portal frame and a rotatable cross cantilever, wherein the rotatable cross cantilever is arranged at the top of the portal frame and is arranged to be rotatable around an axis vertical to the ground, and a camera is arranged at the end part of the rotatable cross cantilever;
a front end device comprising the camera, and a power system to rotate the rotatable cross cantilever;
and the multi-camera synchronous triggering device is used for controlling the front-end equipment to realize synchronous data acquisition.
2. The control device according to claim 1, wherein the measuring field construction device further comprises a rotation table, the camera is mounted on the rotatable cross cantilever through the rotation table, and the rotation table can drive the camera to rotate around a camera shooting direction axis; the front-end equipment further comprises a power system for controlling the autorotation turntable to rotate.
3. A control device according to claim 2, characterized in that the rotatable cross-shaped cantilever is formed by two perpendicular beams, the four vertices of which are provided with one of the cameras, respectively.
4. The control device according to claim 2, wherein the rotatable cross cantilever is automatically linked with the self-rotating table, and full automation of the construction of the measuring field is realized through the combination of rotation speed proportion, so that the reliability of the system is improved.
5. The control device according to claim 2, wherein the rotatable cross cantilever is provided with a start limiter, the rotatable cross cantilever starts to count from a start point, stops when moving to an end point, and starts to rotate after waiting for a timer to reach a period time, thereby eliminating a cantilever angle accumulation error caused by a motor rotation speed error of long-time reciprocating motion.
6. A control device according to claim 3, characterized in that the end of travel of the rotatable cross cantilever is provided with a blank area.
7. The control device according to claim 1, wherein the multi-camera synchronous triggering device comprises a remote master station and a slave station, the remote master station is in communication connection with the slave station, the remote master station is a centralized control device, and under a default condition, the remote master station sends out an instruction to forward through the slave station to control the front-end equipment to complete shooting; when the communication between the remote master station and the slave station is interrupted, the remote master station is automatically switched to the state that the slave station directly controls the front-end equipment to complete shooting; the front-end equipment can be manually switched to the slave station to control the front-end equipment according to the requirement, and the image acquisition of a plurality of cameras is synchronously controlled.
8. An optical photodeformation measurement synchronization control method, characterized by comprising the following steps based on the optical photodeformation measurement synchronization control device according to any one of claims 1-7:
the construction period of the measuring field is further adjusted through the arrangement of the angular velocity of the cantilever beam movement; meanwhile, the coverage coefficient of the measurement view field is further improved, and the data effectiveness and the data quality are improved;
measurement data preprocessing, automatic data segmentation and data sample establishment are carried out based on measurement field parameters, and establishment of optimized measurement data units is realized;
the centralized control realizes man-machine interaction of synchronous control of camera deformation measurement, and the design and control of the multi-camera synchronous triggering device and the measuring field construction device realize high-reliability and full-automatic control of construction of the optimal deformation measuring fields of a plurality of sets of cameras and adjustable measurement data parameters of the optimal deformation measuring fields.
9. The method of claim 8, wherein the measurement data preprocessing is specifically to preprocess system measurement data according to a preset optimal measurement field measurement period, that is, combine and group measurement image data of multiple cameras in the same measurement period time period to form a data packet of each measurement period, so as to improve the processing speed of later precision analysis of the measurement data.
10. The method of claim 8, wherein the centralized control is specifically implemented by centralized setting of the multi-camera synchronous triggering device, the measuring field construction device and the data preprocessing period, so as to realize one-key synchronous starting and stopping of the devices and the data processing, improve the operation convenience of the deformation measurement synchronous control device to the greatest extent, and reduce the measurement data errors caused by asynchronous starting of different devices.
CN202211705009.3A 2022-12-29 2022-12-29 Synchronous control device and method for optical photographing deformation measurement Pending CN116242318A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211705009.3A CN116242318A (en) 2022-12-29 2022-12-29 Synchronous control device and method for optical photographing deformation measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211705009.3A CN116242318A (en) 2022-12-29 2022-12-29 Synchronous control device and method for optical photographing deformation measurement

Publications (1)

Publication Number Publication Date
CN116242318A true CN116242318A (en) 2023-06-09

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Application Number Title Priority Date Filing Date
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