Design And Implementation Of Navigation And Measurement Subsystem For Large Support Platform Detection System

The main content of this thesis is design and implementation of navigation and measurement subsystem for large rupport platform detection system, this paper is a sub topic of platform detection system.This detection system relies on the self-developed detection vehicle to detect the support platform.In the detection system,Navigation and measurement subsystem assume all work what is all about images related.This paper consists of several parts Function: Visual navigation,vehicle location, joint detection, camera calibration, sub-pixel seam width measurement.In the paper, we describe the specific functional requirements of each module,outline design of each modules,Design and implementation of module function,Design of module function,the specific issues encountered in practical testing and How the problem is solved.In the visual navigation part,the linear detection algorithm to handle several problem is as follows:navigation task in the process of moving vehicles,Vehicle parking positioning task,to calculate the marble number in the process of moving vehicles.Modify the Linear detection method to adapt to the following:Complex situation of marble surface,Speed requirements for navigation data in the process of moving vehicles,positioning accuracy requirements.The correctness of the method is proved in two aspects: theoretical analysis and practical test.In navigation and measurement systems,the camera calibration is divided into two parts: camera installation calibration and camera parameter calibration.In the installation calibration section,according to the actual situation of the camera installation, the installation calibration program is designed to avoid the installation errors.In camera parameter calibration part,We chose Zhang Zhengyou camera calibration method.Through the study of its calibration principle, we chose the right method of experiment.In the navigation and measurement, this method effectively eliminates the influence of the camera itself.In Sub-pixel joint width measurement parts,we need to measure the marble platform gap width when we adjust the platform height difference.We chose the method of sub-pixel edge detection and realize Sub-pixel edge detection based on One-dimensional gray moment.This method is compared with the edge detection method of the third chapter.The superiority of the proposed method in the detection accuracy is demonstrated.The program was tested in marble platform.The method meets the requirements of the project through the analysis of the experimental results.When we develop the program, we take full account of the actual situation and make a adaptive improvement to the program. The stability of the system is improved by these adjustments.The system can automatically run over ten hours.The above functions meet the functional requirements of the project.