【作者】 刘今越；

【导师】 曾周末；

【作者基本信息】 天津大学 ， 精密仪器及机械， 2009， 博士

【摘要】 多注速调管电磁聚焦系统是雷达系统的核心部件,其磁场分布是影响系统性能的关键。由于属于深孔检测的问题,且被测孔的分布很难定位,因此,电磁聚焦系统的磁场检测一直是困扰速调管研究与制造的一个难题。本文在国家高技术研究发展计划(863计划)重大项目“L波段连续波多注宽带速调管”(2002AA872020)子项-“基于视觉定位的磁场分布检测系统开发”项目的支持下,以探头精密定位、智能检测、以及检测装备的开发为目的,开展了基于视觉导引和定位的深孔磁场分布测量机器人的深入研究。论文的主要工作内容如下:1.对L波段连续波多注宽带速调管电磁聚焦系统的结构、特性及磁场测量方法进行了分析,结合实际检测要求,设计了适用于电磁聚焦系统检测的基于视觉辅助磁场分布测量机器人系统的总体方案,并对磁场测量机器人系统的各个子系统进行了研究。2.为保证检测数据的可靠性和设备的安全性,磁场测量前必须将探头调整至与电磁聚焦系统上表面垂直的位置。本文对基于P4P模型的摄影测量原理进行了深入研究,根据速调管电磁聚焦系统上表面的物理结构特点,针对性的提出了一种基于P4P模型的电磁聚焦系统姿态测量与调整方法,并对姿态测量过程中的自动调焦算法、图像降噪算法以及角点提取算法进行了深入研究。实验结果表明,提出的姿态测量及调整方法精度较高,容易实现,具有良好的适用性。3.针对探头垂直调整之后的待测孔孔心精确定位问题,对一阶径向畸变模型下圆阵列的畸变特性进行了深入分析,提出了一种基于圆阵列的摄像机畸变参数求解方法和孔心定位方法,有效提高了电磁聚焦系统各待测孔心定位的准确性和快速性。4.针对传统等间距磁场分布测量方法不能兼顾检测效率以及磁场变化细节描述的问题,对电磁聚焦系统磁场分布测量过程中动态调整采样间距的方法进行了深入研究。根据磁场分布测量的控制模型,提出了一种基于灰色预测-模糊逻辑模型的磁场分布测量方法,满足了系统根据磁场强度变化的缓急动态调整测量位置疏密程度的测试要求,在实际应用中取得了良好的测量控制效果。5.根据机器视觉和机器人系统原理,针对多注速调管电磁聚焦系统磁场分布自动测量的精密、可靠、智能化和高效率的现代化检测要求,研制开发了视觉辅助磁场分布测量机器人系统样机的软硬件系统。目前,该系统已经在中国科学院电子学研究所成功投入到实际的检测应用中。更多还原

【Abstract】 The electromagnetic focusing system of multi-beam klystron is a key part ofradar system, as well as its magnetic field distribution characteristics have animportant effect on the performance of radar. Because of the difficulty of detectionand location for deep hole, the measurement of magnetic field for electromagneticfocusing system is a difficult problem which has restricted the research anddevelopment of klystron for a long time.This paper is supported by the sub-project, the magnetic field measuring systemwith vision positioning, of the national high technology research and developmentprogram (“863”Program) of China named L-Band and multi-beam continuous wavebroadband klystron (ID: 2002AA872020). Aiming at the key technologies andtheories of probe precise positioning and intelligent measurement, as well as thedevelopment of the measurement equipment, the robot system for magnetic fielddistribution measuring of deep hole based on visual guiding and locating is studied.The main works of this paper are as follows:1. The structure, properties and measuring methods of electromagnetic focusingsystem of the L-Band and multi-beam continuous wave broadband klystronare analyzed. Combined with the requirements of measurement, the generalscheme of robot system for magnetic field measuring is given, which issuitable for electromagnetic focusing system. The research works of therobot‘s sub-system are also carried out.2. To guarantee the data reliability and safety of equipment, the probe must beadjusted to be perpendicular to the upper surface of the electromagneticfocusing system before measuring the magnetic field. The photogrammetrytheory based on P4P model is studied deeply. A pose measurement andadjustment method based on P4P model is proposed. The auto-focusingalgorithm, image denoise algorithm and corner extraction algorithm are alsodiscussed. The experiments show that this method can achieve higherprecision, and is easy to use.3. According to the precision positioning problem of hole center after theadjustment of probe, the distortion characteristic of circle array with camera model of one order radial distortion is analyzed thoroughly, and then a newapproach for solving the camera distortion parameters and positioning thehole center based on circle array is proposed, which improves the accuracyand speed of positioning for electromagnetic focusing system effectively.4. Due to the traditional magnetic measuring method with equal interval can notmeet the requirements of detection efficiency and details at the same time,the dynamic adjustment method of measurement intervals during the processof magnetic measuring is studied thoroughly. According to the control modelof magnetic measurement, a new measurement method based on greyprediction and fuzzy logic model is proposed, which can adjust themeasurement intervals dynamically by the change trend of magnetic field.And this method can achieve better measurement control effects inapplication.5. According to the theory of machine vision and robot system, the visionassisted robot system for magnetic field measuring is developed, which canmeet the measurement requirements of multi-beam electromagnetic focusingsystem such as precision, reliability, intelligence and efficiency. And thismeasurement system has been put into use in institute of electronics, ChineseAcademy of Sciences successfully.更多还原