ࡱ > n p m ` * Z ] [ R bjbj ΐ ΐ 8 4 h e l 5L } K# K# K# K# 7 7 7 K K K K K K K SN P > K i 8 7 7 8 8 K K# K# @ K .; .; .; 8 K# K# K .; 8 K .; .; r B $C K# jiz r: B pK L 0 5L B z 3Q ; . 3Q $C $C 8 3Q \C 7 " 7 .; 7 8 7 7 7 K K .; 7 7 7 5L 8 8 8 8 3Q 7 7 7 7 7 7 7 7 7 : WNSvƉɉKmݍb/gv[9_R{{|nx[cel RmUO\ wmQ*zz]zf[bޘLhV]z| pS 2 6 4 0 0 1 XdS_MR[9_R{{[c]\O-NnfMǑ(uN]d\OelǏvƉc%cd\O[saSS[c|nx'`]ekA~tHesNON0[dkWNSvƉɉKmϑb/gcQN NyꁨR[cel)R(uSDdP4YKmϑ[caSSvbPOP]{R{9_tevݍyT҉^[sR{9_/eT[caSSvQnx[Q06qTxvzN|~Kmϑ])R(u^~'`VR_bTelRgN]{lQ_)R(uI{ݍh:\NKmϑ]h[[eHhv^[DdP4Y[ň NOv~QN-Np^[ňelT{ePel gTNR{9_ꁨRS[c|~vW,g~g0Ջ~ghf勹elY gHeSR{9_[cOP]ݍyT҉^:NMOnte|~cO gHeeQN[s[9_R{{vꁨR[c0 sQ.͋R{{[cSvƉɉ]Rgh[ -NVR{|ST P 3 9 1 . 4 1 e.shƋxA A P r e c i s e M e r g i n g M e t h o d o f M i s s i l e T u b e B a s e d o n B i n o c u l a r V i s i o n L I U T a o , T A N G W e i - f e n g ( D e p a r t m e n t of Airborne Vehicle Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China) Abstract: To solve the problems of multi steps and low efficiency caused by low precision of manual operation in missile tube merging work, an automatic method was studied based on binocular vision measuring technology. Calculating formulas of parameters to be adjusted in every step were deduced by use of measuring the image deviation between two installed cameras, including the distance and angle for making support legs of tube matching the bayonet of filling equipments. Then the measuring error was researched and the way to get its calculating formula was given out by non-linear regression fitted method, followed was the calibration experiment to get the samples. Also, for convenient installation, translation scheme and its compensation method were analyzed. At last, the basic structure of an automatic merging system was designed. The experiment result showed that the method could get the merging deviati o n e f f e c t i v e l y f o r a d j u s t i n g s y s t e m , t o m a k e a u t o m a t i c m e r g i n g w o r k c o m e t r u e . K e y w o r d s : m e r g i n g w o r k o f m i s s i l e t u b e ; b i n o c u l a r v i s i o n ; e r r o r a n a l y s i s ; c a m e r a c a l i b r a t i o n [9_ňkX]\O/f[9_fkhV|~b/gQYv;N]\OKN NňkX^vcQ[@w[9_fkhV|~vOHesTbeRQub0[9_R{{/e[c0RňkXYbS\ňn N/f[9_ňkX]\Ov͑~bR0s(Wv[c]\O N,1ud\OXTd\Ow͑ňYw T[9_R{{ۏL[cd\OXTNw0R[cǏzNO`c%cXTSNSKbRc%cd\OXT[b|nx^]0HesNONyr+R/fT0Gň}[9_R{{1uN:ON|nx[cb/gTY__ 0b-NlǏz^8^A~t%N͑q_TňYObHeTbeRv_ub0,ge)R(uSvƉɉKmϑb/gcQ Ny|nxvR{9_ňkXb/gelY_Qnx[bňkX]\O0 1 . [9_ňkX]\O-N[cRv,g(1\/f\R{9_/eňeQvsQYcS Nv^V[YS\ňnaSS00}R{9_eQ^ňkXfaSSI{0V1 :N[9_R{{[cOƉ:yaV E M B E D E q u a t i o n . 3 :NR{{vV*N/e E M B E D E q u a t i o n . 3 :N[cYvV*NaSS[c]\O1\/f\wb_ E M B E D E q u a t i o n . 3 ǏlR0yRTNy[sN E M B E D E q u a t i o n . 3 v͑T0\ E M B E D E q u a t i o n . 3 N E M B E D E q u a t i o n . 3 bq_0RT N4ls^bQ_0R[c]\OAmz:NHQ\R{9_lR҉^ E M B E D E q u a t i o n . 3 :N E M B E D E q u a t i o n . 3 6qTQKmϑ E M B E D E q u a t i o n . 3 :N E M B E D E q u a t i o n . 3 T E M B E D E q u a t i o n . 3 ݍy:N E M B E D E q u a t i o n . 3 v^(W4ls^bQ4ls^yR E M B E D E q u a t i o n . 3 T E M B E D E q u a t i o n . 3 gTR{{WvN>esSS[b[9_R{{/ev[c]\O0Vdk E M B E D E q u a t i o n . 3 ҉T4ls^ݍy E M B E D E q u a t i o n . 3 0 E M B E D E q u a t i o n . 3 v|nxKmϑ/f|nx[cňkX]\OvsQ.0 E M B E D V i s i o . D r a w i n g . 1 1 V1 R{9_[c]\O:yaV 2 . SvƉɉKmϑb/g SvƉɉKmϑb/g)R(u$NS NTMOnvDdP:gbDdT NE^:WofSzSOVP[vQ-Nv9SMpۏLRgNSzzpPWhTv[MOnsQ|0YV2 E M B E D E q u a t i o n . 3 :N$NSDdP:gIQ_MOnNvQ҉ݍTQSpevI{IQtNvs^L E M B E D E q u a t i o n . 3 R+R/fzzp E M B E D E q u a t i o n . 3 (W$NSDdP:g NvbPp(W_0R E M B E D E q u a t i o n . 3 [^PWhT$NDdP:gSpew5vagNNsSSǏ^zN勹pPWh:N*gwpevY*N~'`ez)R(u g\NXNlBl㉗_勹pvPWhSvQN$NSDdP:g-N_pA KNvMOnsQ|0P pvPWh:N E M B E D E q u a t i o n . 3 1 vQ-N E M B E D E q u a t i o n . 3 :N]SDdP:gvQSpe E M B E D E q u a t i o n . 3 :N]SDdP:gvIQ_ݍy E M B E D E q u a t i o n . 3 :NP p(W]DdP:g-NvbPpvVPPWh E M B E D E q u a t i o n . 3 :NP p(WSDdP:g-NvbPpvVPPWh E M B E D E q u a t i o n . 3 :NVPPWh|SpMOn0_-N E M B E D E q u a t i o n . 3 1uDdP:gh[]\O_0R E M B E D E q u a t i o n . 3 1uDdP:g@b_VPƋ+Rz^{_0R[ 1 - 3 ] 0 )R(uDdP:gh[]\OTeSN_0R]SDdP:gNWQPWh|vMOnsQ|N_0R]SDdP:g-N_pA NP pvMOnsQ|0 E M B E D V i s i o . D r a w i n g . 1 1 V2 SvƉɉKmϑb/g:yaV 3 . R{9_[cSvKmϑb/gel 1uNR{9_[c Sv/fbq_s^b-Nv9Y҉ E M B E D E q u a t i o n . 3 T4ls^ݍy E M B E D E q u a t i o n . 3 0 E M B E D E q u a t i o n . 3 Vdk,geǑ(uSvƉɉKmݍ-Nvs^ƉzSOƉɉel0(WR{{]O$N*N/eMOnTn$NSDdP:gYV3 0N] N҉ E M B E D E q u a t i o n . 3 pvVPǑƖKmϑ:NOYV4 E M B E D E q u a t i o n . 3 p$NOn&qݍ:N E M B E D E q u a t i o n . 3 vDdP:g$Nݍy:N E M B E D E q u a t i o n . 3 E M B E D E q u a t i o n . 3 bPpNVP-N_ݍyR+R:N E M B E D E q u a t i o n . 3 T E M B E D E q u a t i o n . 3 E M B E D E q u a t i o n . 3 :N E M B E D E q u a t i o n . 3 (WbPb Nvbq_N E M B E D E q u a t i o n . 3 KNv4ls^ݍy E M B E D E q u a t i o n . 3 :N E M B E D E q u a t i o n . 3 NbPbKNvݍy0VdkSN_0R E M B E D E q u a t i o n . 3 2 Vdk1u N_SN㉗{Q T E M B E D E q u a t i o n . 3 vpe