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为了提高高功率激光装置中各组成系统调试阶段的工作效率,利用OpenGL图形软件建立靶了定位仿真系统,使得靶定位算法的调试和初步验证在实验平台等硬件条件尚未完善的情况下能够独立进行。利用模板匹配和3-CCD空间定位法对靶丸进行定位监测,并考虑姿态调整过程中由于靶杆长度引起的位置偏移,在算法中给予补偿。仿真系统不仅实现了目标靶丸、送靶机构等虚拟构建,还运用OpenGL成像技术实现了CCD仿真图像的采集。最后利用该仿真系统对靶丸特征检测、空间位姿计算、补偿式姿态调整等算法进行了调试。结果表明,通过相机监测可将靶丸由任意位姿调至目标零位,验证了该检测与定位算法应用于实际工程的可行性。
In order to improve the working efficiency of the system debugging stage of high-power laser devices, the OpenGL graphics software was used to establish the target location simulation system so that the debugging and preliminary verification of the target location algorithm could be carried out independently if the hardware conditions of the experiment platform were not perfect . The positioning and monitoring of the pellets were performed by using template matching and 3-CCD spatial positioning method, and the compensation was given in the algorithm considering the position deviation caused by the length of the target rod in the attitude adjustment process. The simulation system not only realizes the virtual construction of the target capsule and the target delivery mechanism, but also realizes the collection of the CCD simulation image by using OpenGL imaging technology. Finally, the simulation system is used to debug the algorithms of target feature detection, space attitude calculation and compensation attitude adjustment. The results show that the camera can be adjusted from any pose to the target zero by camera monitoring, which verifies the feasibility of the detection and localization algorithm applied to the actual project.