基于双目视觉测距技术的导弹筒箱精确对接方法

A Precise Merging Method of Missile Tube Based on Binocular Vision

摘要:

当前导弹筒箱对接工作中普遍采用人工操作方法，通过目视指挥操作实现卡口对接，精确性差，步骤繁琐，效率低下。针对此问题，基于双目视觉测量技术提出了一种自动对接方法，利用双摄像头测量对接卡口的成像偏差，计算筒弹调整的距离和角度，实现筒弹支脚和对接卡口的准确对准。然后研究了系统测量误差，利用非线性回归拟合方法分析了误差计算公式，利用等距标尺设计了测量误差标定实验方案，并针对摄像头安装不便的问题，给出了中点延长安装方法和计算补偿方法，最后设计了筒弹自动化对接系统的基本结构。试验结果表明，该方法能够有效获取筒弹对接偏差距离和角度，为位置调整系统提供有效输入，从而实现导弹筒箱的自动对接。

Abstract:

To solve the problems of multi steps and low efficiency caused by low precision of manual operation in missile tube merging work, an automatic method was studied based on binocular vision measuring technology. Calculating formulas of parameters to be adjusted in every step were deduced. Then the measuring error was researched and the way to get its calculating formula was given out by non-linear regression fitted method, followed was the calibration experiment to get the samples. Also, for convenient installation, translation scheme and its compensation method were analyzed. At last, the basic structure of an automatic merging system was designed, which could provide valuable reference for improving merging work efficiency.