【作者】 朱荷蕾；

【导师】 李航；

【作者基本信息】 河南科技大学 ， 机械电子工程， 2010， 硕士

【摘要】 随着现代机械加工工艺的深入发展,机械加工对象逐渐微型化、精密化,由此发展起来的微机械加工技术为机械制造开辟了一块崭新的领域。微机械加工广泛应用于航天国防、工业制造、精密仪器、生物医学等方面,是一个国家现代工业发展水平的重要标志之一。在微机械加工过程中,需要对微机械加工对象的几何尺寸进行实时地检测与跟踪,并反馈给运动控制系统,从而提高加工精度。但微机械结构及操作平台的承载能力都比较小,传统的几何测量传感器不适用于加工过程的微机械工件的尺寸检测,因此,微机械加工对象的几何尺寸检测只能采用非接触式测量方法。本文提出了一种基于机器视觉的微工作台三维运动姿态检测与跟踪的方法。该方法将微机械加工平台物理形状抽象为一个长方体,并选取该长方体上的四个角点作为特征点,利用双目视觉测量原理实现特征点的三维世界坐标测量及表征点的动态匹配跟踪,同时使用特征点的三维坐标变化表征微工作台的位姿变化,实现对微工作台运动姿态实时、非接触的快速测量及跟踪检测,并且能够降低微工作台三维运动误差检测的复杂性。本文的主要研究成果如下:1.利用针孔成像原理,建立摄像机成像的投影变换模型,获取空间点的三维坐标值的计算方法,结合双目视觉测量原理建立了微工作台三维姿态测量的算法。2.利用数字图像处理的基本方法,建立了基于特征点匹配的图像跟踪算法和基于模板搜索方法的匹配算法,实现了微工作台的运动位姿的动态检测和跟踪。3.利用摄像机和三坐标测量仪搭建微工作台姿态测量整体系统,该系统分为硬件设计部分和软件设计部分,并且通过实验证明了该测量系统的可靠性。更多还原

【Abstract】 With the ever-changing development of modern machine manufacturing technology, micro-machining has been attached gradually. Micro-machining technology is supporting the development of new MEMS technology, involving electronic, mechanical, chemical, biological, and other disciplines, and it is widely used in national defense, aerospace, medical, biomedical, industrial manufacturing, consumption and other areas of civil, it is also considered as one of the most promising and revolutionary high-tech in the twenty-first century. However, in the micro-machining processing, because the micro-mechanical structure and operation of platform carrying capacity are relatively small, the traditional geometric detection sensor does not apply to detect geometry of workpiece in micro-mechanical machining processing, therefore, the geometric size of micro-mechanical testing only use non-contact measurement method.Based on machine binocular vision measurement principle ,this paper presents a new method of micro-table three-dimensional motion attitude measurement and tracking , in this method ,the micro-machining platform is abstracted as a rectangular shape object, and the four corners of the rectangular shape are selected as feature points, the binocular vision measurement principle is used to achieve the world coordinate measurement and characterization of three-dimensional dynamic match and point tracking of the feature points ,and the change of three-dimensional coordinates of feature points is used to descript the posture change of feature points of micro-table , achieving real-time, non-contact measurement of micro-table posture and the rapid tracking and detection, and this method can reduce the complexity of three-dimensional micro-table motion error detection.The main research results are as follows:1. Based on pinhole imaging principles, established the projective transformation model of camera imaging process, the calculation method of three-dimensional coordinates of space point, combined with binocular vision measurement method to obtain three-dimensional posture measurement method of micro-table.2. Using basic methods of digital image processing, the tracking algorithm is designed based on feature point matching and matching algorithm is got based on template search to implement the micro-table posture dynamic tracking.3. To use the camera and the CMM, set up micro-table posture measurement system, the system hardware design and software design are also completed, and the experiment proved the feasibility of the measurement system.更多还原