水下集矿作业车运动光学实时跟踪测量系统

Optics based real-time tracking and measuring system for the underwater mining-task-machine trajectory

集矿作业车是大洋采矿系统的关键技术,在实验定型阶段,高精度的测量集矿作业车的运动学参数是检验集矿作业车的牵引、控制等模块性能必不可少的环节。针对集矿作业车在水中行进、活动范围较大的特点,提出了利用广角镜头进行双目交会测量的光学方法,实现了集矿作业车运动轨迹实时跟踪测量系统。该系统首先在实验室内利用网格板对广角镜头的畸变进行修正;其次,在现场,根据场景中的自然特征,在室内标定的基础上,修正镜头畸变,标定摄像机内外参数;最后,两台摄像机跟踪集矿作业车上的合作特征,实时交会测量获得集矿作业车的运动轨迹,包括位置、速度等。该系统的测量结果与全站仪测量结果的残差为5mm。系统已正式通过验收,并投入使用。

Mining-Task-Machine is the key technology of the Ocean Mining System. To finalize the design, It is the key step to test the traction and control unit of the Mining-Task-Machine by measuring kinematic parameters with high precision. Mining-Task-Machine moves in a large area in water, a binocular measurement method with wide-angle lens is used to make real-time track and measurement of the trajectory of Mining-Task- Machine. Firstly, the lens distortion is calibrated by using gridding board in lab. Secondly, according to the natural feature, the parameters of the lens distortion is modified based on the result in lab and all the camera parameters are calibrated. Finally, the binocular system tracks a cooperative feature on Mining-Task-Machine and measures the motion trajectory including position and velocity, etc. of it on real time. The residual between the result of the system and the total station is about 5 mm. The system has passed the examination and evaluation, and has been put into＇use.