点结构光动态姿态角测量系统

Dynamic altitude angle measurement system based on dot-structure light

设计出一个基于机器视觉中点结构光测量原理和以CMOS图像传感器局部感兴趣窗口(ROI)功能为基础的动态姿态角测量系统。介绍了系统测量原理、系统总体设计、以及软硬件算法的设计及实现。该系统硬件平台包括点结构光光源和姿态敏感器,实现了CMOS图像传感器的ROI功能,大大减少了图像数据量,提高了帧频。同时,采用FPGA实现了并行流水的图像预处理。基于序贯四连通域算法和一阶矩计算的实时光斑质心定位,将硬件处理结果实时传输给软件算法进行数据再处理,减少了软硬件平台间交互的数据量,提高了系统测量速度。软件平台实现了系统的标定和测试,并给出了结果。实验结果表明:该测量系统测量范围大,测角速度快,较好地实现了非接触式的动态测量。

Based on dot-structure light measuring principle of machine vision and region of interests （ROI） function of CMOS （Complementary Metal Oxide Semiconductor） image sensor, a dynamic attitude angle measurement system was designed. The basic principle, structure, software and hardware implementations of this measurement system were mainly introduced. The hardware of system included the light source of dot-structure light and attitude sensor. The ROI function of CMOS image sensor was implemented on hardware to reduce image data amount greatly and increase frame frequency. Meanwhile the parallel pipelining image pre-processing, which was real-time centroiding of spot based on sequential fourconnected algorithm and first-order moment, was implemented with FPGA （Field Programmable Gate Array） which reduced alternant data amount greatly between software and hardware, so the system measurement speed was increased. The software of system realized calibration and test. The results show that the measurement system has large FOV and high speed, and realizes untouchable dynamic measurement.