High-accuracy measuring system for position and attitude in pushing-bridge construction based on machine vision
-
摘要: 分析了现有的顶桥施工中位姿测量系统的特点,指出其目前存在的主要问题.针对这 些问题和现场需求,基于计算机视觉反馈理论,设计了一种由CCD传感器、激光准直仪和倾 角传感器组成的新型高精度光电测量系统.在建立了相关数学模型的基础上,搭建了硬件系 统,给出了视频采集、图像处理和多串口通信等关键技术的具体实现方法,完成了各功能模 块的软件开发.该测量系统具有精度高、实时性好、操作简单、维护方便和成本低廉的优点 ,能够替代以往效率低下的人工测量方式,而且其实现方法为其他大型施工测量系统的设计 提供了新技术.Abstract: The feature of the present measuring system for position and attitude in pushing-bridge construction was analyzed and the system’s primary problems were specified. Directed by all the problems and on-site requirements, a kind o f photoelectric measuring system composed of CCD sensors, laser collimator and i nclinometer was developed based on computer visual feedback. After the system’s mathematical model has been built, the hardware work station was finished. In t he process of software functional modules’ development, such key technologies a s video acquisition, image processing and the implementation of multiple serial ports’ communication were introduced in detail. Characterized by high accuracy, real-time, simple operation, convenient maintenance and low cost, the measuring system can substitute for the past manual measuring operation. Furthermore, the system’s implementation also provides new technology for the design of other l arge-scale construction’s measuring systems.
-
Key words:
- position measurement /
- computer vision /
- image processin g
-
[1] Andrea U, Paolo D G. A multirate d igital controller for nonholonomic mobile robot pose regulation via visual feedb ack[J]. WSEAS Transactions on Systems, 2006, 5(5):1129-1136 [2] 陈海初,李满天,张蕊华,等.基于视觉反馈的全自动微小型轮式机器人[J].哈尔滨工业大学学报,2006,38(3):348-349,483 Chen Haichu, Li Mantian, Zhang Ruihua, et al. Autonomous miniature wheele d robot based on visual feedback[J]. Journal of Har bin Institute of Technology, 2006, 38(3):348-349,483(in Chinese) [3] 凌云,王一鸣,孙明,等.基于机器视觉的大米外观品质检测装置[J].农业机械学报,2005,36(9):89-92 Ling Yun, Wang Yiming, Sun Ming, et al. A machine vision based instrument f or rice appearance quality[J]. Transactions of the Chinese Society of Agricultural Machinery, 2005, 36(9):89-92(in Chinese) [4] 崔屹.图像处理与分析——数学形态学方法及应用[M].北京:科学出版社, 2 000:42 Cui Yi. Image processing and analysis—method and application of mathematical morphology[M].Beijing:Science Press,2000:42(in Chi nese) [5] Intel Corporation. Intel image processing library reference manual [M]. USA:Intel Corporation, 2000:133-134 -
点击查看大图
计量
- 文章访问数: 3128
- HTML全文浏览量: 144
- PDF下载量: 868
- 被引次数: 0
下载:
