仪器仪表学报
儀器儀錶學報
의기의표학보
CHINESE JOURNAL OF SCIENTIFIC INSTRUMENT
2009年
11期
2262-2267
,共6页
魏振忠%孙文%张广军%任少盟
魏振忠%孫文%張廣軍%任少盟
위진충%손문%장엄군%임소맹
全局校准%视觉导引%激光跟踪仪%柔性装配
全跼校準%視覺導引%激光跟蹤儀%柔性裝配
전국교준%시각도인%격광근종의%유성장배
global calibration%vision guiding%laser tracker%flexible assembly
针对柔性装配中现有激光跟踪测量系统存在效率低、成本高、自动化程度低等问题,提出用单目视觉系统联合激光跟踪仪实现大尺寸组合式自主导引测量.为实现该系统的全局校准,提出了一种新的基于平面的全局校准方法,该方法通过获取靶标平面分别在视觉系统和激光跟踪仪坐标系中的平面方程,求解两坐标系间转换矩阵,完成系统全局校准.建立了数学模型,进行了算法仿真和全局校准实验.实验中测量30个不同位姿的平面靶标,并进行全局校准.结果表明,该方法操作简单,稳定性强,有实际应用价值,校准后平面法向量夹角、原点到平面距离的RMS误差分别为0.13°和1.50 mm.
針對柔性裝配中現有激光跟蹤測量繫統存在效率低、成本高、自動化程度低等問題,提齣用單目視覺繫統聯閤激光跟蹤儀實現大呎吋組閤式自主導引測量.為實現該繫統的全跼校準,提齣瞭一種新的基于平麵的全跼校準方法,該方法通過穫取靶標平麵分彆在視覺繫統和激光跟蹤儀坐標繫中的平麵方程,求解兩坐標繫間轉換矩陣,完成繫統全跼校準.建立瞭數學模型,進行瞭算法倣真和全跼校準實驗.實驗中測量30箇不同位姿的平麵靶標,併進行全跼校準.結果錶明,該方法操作簡單,穩定性彊,有實際應用價值,校準後平麵法嚮量夾角、原點到平麵距離的RMS誤差分彆為0.13°和1.50 mm.
침대유성장배중현유격광근종측량계통존재효솔저、성본고、자동화정도저등문제,제출용단목시각계통연합격광근종의실현대척촌조합식자주도인측량.위실현해계통적전국교준,제출료일충신적기우평면적전국교준방법,해방법통과획취파표평면분별재시각계통화격광근종의좌표계중적평면방정,구해량좌표계간전환구진,완성계통전국교준.건립료수학모형,진행료산법방진화전국교준실험.실험중측량30개불동위자적평면파표,병진행전국교준.결과표명,해방법조작간단,은정성강,유실제응용개치,교준후평면법향량협각、원점도평면거리적RMS오차분별위0.13°화1.50 mm.
Aiming at the problems of low efficiency, low automatization and high cost existing in traditional laser tracking measurement system widely used in digital flexible assembly technique, a combined homing measurement system for large-scale part assembly is proposed. A laser tracker and a monocular vision system are combined in the system to fulfill the homing measurement of 3D coordinates of benchmarks in parts. To calibrate the system, a new global calibration method based on spatial planes is proposed. Global calibration is fulfilled by acquiring plane equations of planar target at diverse positions and orientations in the coordinate frames of both the vision system and laser tracker respectively, and calculating the transformation matrix between the two coordinate frames. The data measured in the vision system are then combined with those measured in the laser tracker. A mathematical model was established, and simulation was carried out. To evaluate the precision of the method, global calibration experiment was accomplished. The plane equations of planar target measured at 30 diverse positions and orientations were taken into calibration. Experiment results show that this method features simple operation, high stability and bright future for practical application; the RMS errors for the angle ser tracker origin and the planes are 0.13° and 1.50 mm, respectively.