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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,最后设计了简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。
At present, manual operation method is commonly used in the docking work of the missile casing, and the bayonet docking is realized by the visual command operation, which has poor accuracy, complicated steps and low efficiency. In view of this problem, an automatic docking method based on binocular vision measurement technology is proposed, The imaging deviation of the docking bayonet is measured by the dual camera and the distance and angle of the cartridge are adjusted to realize the accurate alignment of the cartridge leg and the docking bayonet. Then the error of the system measurement is studied and the error is analyzed by nonlinear regression fitting method Calculation formula, the use of isometric ruler designed measurement error calibration experiment program, and for the inconvenient installation of the camera, gives the midpoint extension of the installation method and calculation of compensation methods, and finally designed a simple bullet automated docking system, the basic structure; test results The results show that this method can effectively obtain the distance and angle of the cartridge deflection and provide an effective input for the position adjustment system so as to realize the automatic docking of the missile cartridge.