CN101793515A - Device and method for aiming of micro target pellet with diagnostic device - Google Patents
Device and method for aiming of micro target pellet with diagnostic device Download PDFInfo
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- CN101793515A CN101793515A CN200910303701A CN200910303701A CN101793515A CN 101793515 A CN101793515 A CN 101793515A CN 200910303701 A CN200910303701 A CN 200910303701A CN 200910303701 A CN200910303701 A CN 200910303701A CN 101793515 A CN101793515 A CN 101793515A
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Abstract
The invention discloses a device and a method for aiming of a micro target pellet with a diagnosis device, belonging to the technical field of visual measurement of machines and aiming to solve the problem of contradiction between high precision and the manufacturing cost for aiming of the micro target pellet with the diagnosis device. The device comprises an optical imaging system, an image processing system which is used for signal transmission with the optical imaging system and a calibration board which is arranged at a target pellet and is provided with a plurality of straight lines, wherein the straight lines cross the centroid of the target pellet and are divided into sections with an known distance. The method comprises the following steps: determining the distance between the optical imaging system and the target pellet; calibrating internal and external parameters of the camera of the optical imaging system; accurately extracting the centroid of the image of the target pellet formed in the optical imaging system through subpixel extraction so as to obtain three-dimensional spatial coordinates of the target pellet, and judging whether a detection device accurately aims at the target pellet according to the three-dimensional spatial coordinates; and if the detection device does not aim at the target pellet with the set high accuracy, transmitting control parameters to a diagnosis platform for automatic posture regulation, thereby realizing the purpose that the diagnosis device accurately aims at the target pellet.
Description
Technical field
The present invention relates to the pick-up unit and the method in laser inertial confinement nuclear fusion field, relate generally to the machine vision metrology technical field.
Background technology
For the employing manual type there is time-consuming, the not high shortcoming of automaticity of effort in the method that detecting devices aims at pellet in Installation and Debugging, thereby in the target range, should not have adopted traditional artificial method of sight.For ease of through engineering approaches, robotization and reduction operating cost, exploitation reaches the point technique of diagnostic device lift-launch on public diagnostic platform the correlation engineering technical indicator and just seems extremely important.
The main method of diagnostic device aiming of micro target pellet adopts based on the detection method of machine vision with based on the detection method of optics.The detection method of employing machine vision relates to the technical matterss such as measurement of camera marking method and volume coordinate; Employing is carried two bundle or multiple lasers based on the detection method of optics on diagnostic platform, judge whether aiming by two positions of bundle laser on pellet, and the shortcoming of this method is that measuring accuracy is poor.In camera marking method, according to the dimension of demarcation thing, can be divided into three-dimensional demarcation, two dimension demarcation, one dimension demarcation and zero dimension and demarcate (demarcation certainly), wherein three-dimensional stated accuracy height, shortcoming is that caliberating device involves great expense; The two dimension stated accuracy is higher, and method is easy to be easy-to-use.
Summary of the invention
The objective of the invention is to solve the problem that has contradiction between the high precision of diagnostic device aiming of micro target pellet and the cost, a kind of device of diagnostic device aiming of micro target pellet is provided, utilize two dimension to demarcate and reach high-precision requirement.
Another object of the present invention is to utilize said apparatus to make the method for diagnostic device aiming of micro target pellet.
Purpose of the present invention realizes by following technical proposals respectively:
The device of diagnostic device aiming of micro target pellet, comprise the detecting devices that is arranged on the diagnostic device platform, also comprise optical imaging system, have the image processing system that signal transmits with optical imaging system, and the scaling board that is arranged at the pellet place, wherein optical imaging system can with the same moved further of detecting devices.
As an embodiment of the invention, described optical imaging system comprises long burnt optical lens and CCD image-forming component.
As an embodiment of the invention, burnt optical lens of described length and CCD image-forming component are one to form as the unit, and described device comprises that two form as the unit, constitutes binocular CCD imaging system.
As an embodiment of the invention, described scaling board is provided with many straight lines that meet at the pellet barycenter.
As an embodiment of the invention, described straight line is divided into the line segment of multistage known distance.
As an embodiment of the invention, have the coordinate derivation module in the described image processing system, by the three-dimensional coordinate of each point on the straight line on the scaling board, the known distance of each line segment, derive the three-dimensional coordinate of pellet.
The method of diagnostic device aiming of micro target pellet comprises the steps:
A. pellet be provided with the center position that many scaling boards that meet at pellet barycenter straight line are arranged at target chamber;
B. according to the lens focus of the distance between detecting devices and the pellet, optical imaging system, determine to be installed on the distance of the optical imaging system at diagnostic platform taper position at a distance of pellet;
C. utilize the netted grid of liquid crystal screen of generating known separation, utilize the Zhang Zhengyou method to demarcate camera interior and exterior parameter in the optical imaging system;
D. to imaging in the pellet image of optical imaging system, adopt sub-pixel extraction, accurately extract its barycenter, obtain the three dimensional space coordinate of pellet, judge in view of the above whether high precision aims at pellet to detecting devices;
If e. by the high precision aiming pellet of setting, transmitting control parameters adjusts attitude for diagnostic platform to detecting devices automatically, thereby realizes the purpose of diagnostic device high precision aiming pellet.
One of embodiment of method of the present invention is, c0 in steps also after the described step c promptly adjusts lighting source, makes the equal blur-free imaging of pellet and scaling board in the visual field of optical imaging system.
One of embodiment of method of the present invention is that described optical imaging system has two long burnt optical lens and two corresponding with it CCD image-forming components; The method that obtains the three dimensional space coordinate of pellet in the described steps d is, the three dimensional space coordinate of deriving pellet according to the two-dimensional coordinate and the binocular vision algorithm of the pellet barycenter on two CCD image-forming components.
One of embodiment of method of the present invention is that the straight line on the described scaling board is divided into the line segment of many known distances; The method that obtains the three dimensional space coordinate of pellet in the described steps d is, utilizes the line segment of the known distance of conllinear on the scaling board, adopts how much analytical methods and error processing method, obtains the three dimensional space coordinate of pellet.
The present invention adopts the device and/or the method for said structure, the method for utilizing two dimension to demarcate, and the cost cost is low, the pointing accuracy height, on three-dimensional coordinate system, the pointing accuracy of both direction can reach ± 25 microns, and the pointing accuracy of a direction can reach ± and 100 microns.
Description of drawings
The present invention will illustrate by example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is structure and the scheme of installation that installs among the present invention;
Fig. 2 is the structural representation of scaling board among the present invention;
Number in the figure: the 1st, image processing system, the 2nd, optics telephoto lens, the 3rd, CCD image-forming component, the 4th, diagnostic platform, the 5th, detecting devices.
Embodiment
The present invention is further illustrated below in conjunction with specific embodiments and the drawings.
As Fig. 1, the device of diagnostic device aiming of micro target pellet comprises the optical imaging system that is arranged at diagnostic platform taper position, has the image processing system that signal is connected with optical imaging system, and the scaling board that is arranged at the pellet place.Wherein optical imaging system can with the detecting devices 5 same moved further that are arranged on the diagnostic platform.
Among the embodiment, optical imaging system comprises two optics telephoto lenses 2 and two corresponding with it respectively CCD image-forming components 3 as shown in Figure 1, and optical imaging system is installed on the position of diagnostic platform 4 and determines according to the focal length of the optics telephoto lens 2 of the distance between detecting devices 1 and the pellet, optical imaging system.
As shown in Figure 2, scaling board is provided with many straight lines (as the straight line AD1 among Fig. 2, straight line AD2, straight line AD3) that meet at the pellet barycenter, and every straight line is divided into known many line segments (as line segment B1C1, C1D1 etc.) of distance.
Among the embodiment, have the coordinate derivation module in the image processing system,, derive the three-dimensional coordinate of pellet by the three-dimensional coordinate of each point on the straight line on the scaling board, the known distance of each line segment.Image processing system mainly finish the binocular ccd video camera demarcation, derive the three dimensional space coordinate of pellet according to the two-dimensional space coordinate of pellet, thereby judge whether aiming of micro target pellet of detecting devices.
Among another embodiment, said apparatus of the present invention also comprises the optical system protective device.
Utilize said apparatus that the method for diagnostic device aiming of micro target pellet is comprised the steps:
A. pellet be provided with many scaling boards that meet at pellet barycenter straight line are arranged at target chamber by existing connecting gear center position;
B. according to the lens focus of the distance between detecting devices and the pellet, optical imaging system, determine to be installed on the distance of the optical imaging system at diagnostic platform taper position at a distance of pellet;
C. utilize the netted grid of liquid crystal screen of generating known separation, the camera interior and exterior parameter that utilizes the Zhang Zhengyou method to demarcate in the optical imaging system (promptly passes through to draw the gridiron pattern of 15 lattice * 15 lattice on LCDs, adjust the distance of video camera and demarcation LCDs, make imaging clear.Fixedly stereo visual system by adjusting the position of LCDs, is taken the LCDs gridiron pattern photograph of 5 above different azimuth, and the two-dimensional coordinate that utilizes the photo that is obtained to extract angle point is obtained the inside and outside parameter of video camera by the Zhang Zhengyou calibration algorithm);
C0. adjust lighting source, make the equal blur-free imaging of pellet and scaling board in the visual field of optical imaging system.
D. to imaging in the pellet image of optical imaging system, adopt sub-pixel extraction, accurately extract its barycenter, obtain the three dimensional space coordinate of pellet, judge in view of the above whether high precision aims at pellet to detecting devices;
If e. by the high precision aiming pellet of setting, transmitting control parameters adjusts attitude for diagnostic platform to detecting devices automatically, thereby realizes the purpose of diagnostic device high precision aiming pellet.
At present sub-pix extract the barycenter localization method mainly contain spatial moment method, fitting process, digital correlation, based on the rim detection of step model etc.The square method is mainly used in the sub-pixel positioning of symmetrical target in centers such as circle, ellipse and rectangle and targets such as edge and angle point; Fitting process based on least square method is applicable to that mainly target property satisfies known or the assumed function form, and fitting process has good antimierophonic characteristics; And the influence that the correlation method precision is chosen by template and related operation.In numerous sub-pixel extractions, the spatial moment method relatively simply, is not subjected to the data additivity with its precision height, computation process and takes advantage of the plurality of advantages such as influence of sexual factor, has obtained using widely in modern high precision image measuring system.Adopt in the present embodiment based on the method for spatial moment and carry out sub-pix extraction barycenter.
Among the embodiment, above-mentioned optical imaging system comprises two optics telephoto lenses 2 and two corresponding with it respectively CCD image-forming components 3, constitute binocular CCD imaging system, the three dimensional space coordinate of deriving pellet according to the two-dimensional coordinate and the binocular vision algorithm of the pellet barycenter on two CCD image-forming components.
Among another embodiment, above-mentioned optical imaging system can include only an optics telephoto lens and corresponding with it CCD image-forming component, utilize the imaging of scaling board on CCD of Fig. 2 to obtain the three dimensional space coordinate of pellet, detailed process is: in Fig. 2, because A, B1,4 conllinear of C1, D1, and the distance between known each line segment, known on B1, C1,3 coordinates in the imaging system coordinate system of D1, utilize among B1, C1, the D1 to obtain the volume coordinate that A is ordered at any 2.In actual computation,, can adopt D1, B1, A for improving precision; D1, C1, A; The three-dimensional coordinate that A is ordered is obtained in B1, C1, three kinds of combinations of A, gets its mean value then, and the three-dimensional coordinate that A is ordered is obtained in each line segment combination that can also add other straight line, further averages, and reduces the influence of various errors.In the present embodiment,, can adopt binocular CCD imaging system, obtain two groups of three-dimensional coordinate datas that A is ordered, improve precision by weighted-average method again by two CCD imagings in order to improve system reliability.
In one embodiment, three groups of three-dimensional coordinates of the pellet barycenter (A point) that can obtain by above-mentioned two kinds of methods are if three groups of data consistents then show reliable test result.If reliable, adopt the method for average to provide controlled variable, and pass to diagnostic platform, thereby realize the purpose of diagnostic device high precision aiming pellet with the adjustment attitude.If unreliable, measure again.
Adopt said apparatus and method, pointing accuracy depends primarily on the factor of following several respects:
(1) point of LCD display is apart from physical parameter, and point is more little apart from parameter, and the inside and outside parameter precision of camera calibration is high more;
(2) precision of sub-pix extraction, it is high more to extract precision, and the three-dimensional coordinate that obtains is accurate more;
(3) machining precision of known distance is high more in the demarcation thing that small pellet constitutes, and the three-dimensional coordinate of deriving is accurate more;
(4) optical quality of optics telephoto lens wants high, reduces its optical distortion as far as possible.
Therefore, improve the precision of diagnostic device aiming pellet, can start with from these four aspects.Be to improve the reliability of system, adopt above-mentioned two kinds of methods three dimensional space coordinate of pellet of deriving, thereby judge more reliably whether detecting devices aims at pellet.Adopting these apparatus and method, as shown in Figure 1, can reach pointing accuracy ± 25 micron in the x and y direction, the measuring accuracy on z direction (axis direction among Fig. 1) can reach ± and 100 microns.
The method that adopts said apparatus and three-dimensional to demarcate is compared, and can reduce the cost cost greatly.
Disclosed all features in this instructions, or the step in disclosed all methods or the process except mutually exclusive feature and/or step, all can make up by any way.
Disclosed arbitrary feature in this instructions (comprising any accessory claim, summary and accompanying drawing) is unless special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is, unless special narration, each feature is an example in a series of equivalences or the similar characteristics.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and the arbitrary new method that discloses or step or any new combination of process.
Claims (10)
1. the device of diagnostic device aiming of micro target pellet, comprise the detecting devices that is arranged on the diagnostic device platform, it is characterized in that, also comprise optical imaging system, have the image processing system that signal transmits with optical imaging system, and the scaling board that is arranged at the pellet place, wherein optical imaging system can with the same moved further of detecting devices.
2. the device of diagnostic device aiming of micro target pellet according to claim 1 is characterized in that, described optical imaging system comprises long burnt optical lens and CCD image-forming component.
3. as the device of diagnostic device aiming of micro target pellet as described in the claim 2, it is characterized in that burnt optical lens of described length and CCD image-forming component are one to form as the unit, described device comprises that two form as the unit, constitutes binocular CCD imaging system.
4. the device of diagnostic device aiming of micro target pellet according to claim 1 is characterized in that described scaling board is provided with many straight lines that meet at the pellet barycenter.
5. as the device of diagnostic device aiming of micro target pellet as described in the claim 4, it is characterized in that described straight line is divided into the line segment of multistage known distance.
6. as the device of diagnostic device aiming of micro target pellet as described in the claim 5, it is characterized in that, have the coordinate derivation module in the described image processing system,, derive the three-dimensional coordinate of pellet by the three-dimensional coordinate of each point on the straight line on the scaling board, the known distance of each line segment.
7. the method for diagnostic device aiming of micro target pellet is characterized in that, comprises the steps:
A. pellet be provided with the center position that many scaling boards that meet at pellet barycenter straight line are arranged at target chamber;
B. according to the lens focus of the distance between detecting devices and the pellet, optical imaging system, determine to be installed on the distance of the optical imaging system at diagnostic platform taper position at a distance of pellet;
C. utilize the netted grid of liquid crystal screen of generating known separation, utilize the Zhang Zhengyou method to demarcate camera interior and exterior parameter in the optical imaging system;
D. to imaging in the pellet image of optical imaging system, adopt sub-pixel extraction, accurately extract its barycenter, obtain the three dimensional space coordinate of pellet, judge in view of the above whether high precision aims at pellet to detecting devices;
If e. by the high precision aiming pellet of setting, transmitting control parameters adjusts attitude for diagnostic platform to detecting devices automatically, thereby realizes the purpose of diagnostic device high precision aiming pellet.
8. as the method for diagnostic device aiming of micro target pellet as described in the claim 7, it is characterized in that c0 in steps also after the described step c promptly adjusts lighting source, makes the equal blur-free imaging of pellet and scaling board in the visual field of optical imaging system.
9. as the method for diagnostic device aiming of micro target pellet as described in claim 7 or 8, it is characterized in that described optical imaging system has two long burnt optical lens and two corresponding with it CCD image-forming components; The method that obtains the three dimensional space coordinate of pellet in the described steps d is, the three dimensional space coordinate of deriving pellet according to the two-dimensional coordinate and the binocular vision method of the pellet barycenter on two CCD image-forming components.
10. as the method for diagnostic device aiming of micro target pellet as described in claim 7 or 8, it is characterized in that the straight line on the described scaling board is divided into the line segment of many known distances; The method that obtains the three dimensional space coordinate of pellet in the described steps d is, utilizes the line segment of the known distance of conllinear on the scaling board, adopts how much analytical methods and error processing method, obtains the three dimensional space coordinate of pellet.
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| CN2009103037011A CN101793515B (en) | 2009-06-26 | 2009-06-26 | Device and method for aiming of micro target pellet with diagnostic device |
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| CN2009103037011A CN101793515B (en) | 2009-06-26 | 2009-06-26 | Device and method for aiming of micro target pellet with diagnostic device |
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| CN101793515B CN101793515B (en) | 2011-12-14 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038552A (en) * | 2011-01-14 | 2011-05-04 | 中国科学院西安光学精密机械研究所 | Method and device for aiming high-precision diagnostic equipment |
| CN106893974A (en) * | 2017-03-22 | 2017-06-27 | 中国工程物理研究院激光聚变研究中心 | A kind of nothing of slight flat part is cut from forming method |
| CN108871195A (en) * | 2018-07-25 | 2018-11-23 | 中国工程物理研究院激光聚变研究中心 | Physical diagnosis equipment method of sight based on reflection sphere tracking ball target |
| CN110413009A (en) * | 2019-07-24 | 2019-11-05 | 中国工程物理研究院激光聚变研究中心 | A kind of sighting system |
| CN112331365A (en) * | 2020-11-02 | 2021-02-05 | 苏州大学 | A fusion dust stereo imaging system with a single observation window |
-
2009
- 2009-06-26 CN CN2009103037011A patent/CN101793515B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038552A (en) * | 2011-01-14 | 2011-05-04 | 中国科学院西安光学精密机械研究所 | Method and device for aiming high-precision diagnostic equipment |
| CN106893974A (en) * | 2017-03-22 | 2017-06-27 | 中国工程物理研究院激光聚变研究中心 | A kind of nothing of slight flat part is cut from forming method |
| CN108871195A (en) * | 2018-07-25 | 2018-11-23 | 中国工程物理研究院激光聚变研究中心 | Physical diagnosis equipment method of sight based on reflection sphere tracking ball target |
| CN108871195B (en) * | 2018-07-25 | 2020-05-22 | 中国工程物理研究院激光聚变研究中心 | Physical diagnosis equipment aiming method based on reflective ball tracking ball target |
| CN110413009A (en) * | 2019-07-24 | 2019-11-05 | 中国工程物理研究院激光聚变研究中心 | A kind of sighting system |
| CN112331365A (en) * | 2020-11-02 | 2021-02-05 | 苏州大学 | A fusion dust stereo imaging system with a single observation window |
| CN112331365B (en) * | 2020-11-02 | 2022-10-18 | 苏州大学 | Fusion Dust Stereo Imaging System with Single Viewing Window Mounted on Tomacak |
| CN112331365B9 (en) * | 2020-11-02 | 2023-02-07 | 苏州大学 | Fusion dust stereoscopic imaging system with a single observation window assembled on a tokamak |
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| CN101793515B (en) | 2011-12-14 |
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