摘要
在筒形件自动化对接过程中,需对其姿态进行无靶标精密测量和调整。本文采用激光轮廓传感器对被测件进行扫描获得点云数据,推导得出点云数据的直线拟合公式,并进行了姿态拟合求解。基于蒙特卡洛数值模拟,对筒形件的轴线拟合法和母线拟合法进行比较,并根据两种方法各自的优缺点,提出采用轴线拟合法求解俯仰角、母线拟合法求解偏转角的综合测量求解方法,显著提高了姿态测量精度。此外,探讨了截取椭圆个数、每个椭圆上的轮廓点数与姿态求解精度之间的关系,为在满足测量精度的同时兼顾测量效率提供了参考依据。最后,利用原理样机和激光跟踪仪进行了测量实验。实验结果显示,轴线姿态角测量的绝对精度优于0.02°,标准差低于0.01°,由此证明了本文方法的有效性和准确性。
During the automatic docking of cylindrical workpieces,it may be necessary to measure the orientation of workpieces accurately without targets.For this reason,a precision scanning method without targets was utilized.The point cloud data was obtained by a laser profile sensor,and the postures were determined by a comprehensive method.Based on Monte-Carlo simulation,the accuracies of the axis fitting method and bus section fitting method were compared,and a new comprehensive method was proposed further.In this study,the pitch angle was obtained by the axis fitting method,the deflection angle was obtained by the bus section fitting method,and the measurement accuracy was significantly improved.In addition,to balance the accuracy and efficiency,the relationship among the number of intercepted ellipses,the number of contour points on each ellipse,and the precision were discussed.Finally,a prototype experiment was conducted to prove the validity and accuracy of the comprehensive method.It is proved that the absolute accuracy of the axis attitude is better than 0.02°,and the standard deviation is less than 0.01°.
作者
张解语
仇原鹰
宁博
杨长祺
钟珂珂
ZHANG Jie-yu;QIU Yuan-ying;NING Bo;YANG Chang-qi;ZHONG Ke-ke(Key Laboratory of Electronic Equipment Structure Design of Ministry of Education,Xidian University,Xi'an 710071,China;Institute of Shanghai Spaceflight Precision Machinery Research Institute,Shanghai 201600,China)
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2018年第12期2963-2970,共8页
Optics and Precision Engineering
基金
国家自然科学基金联合基金项目资助(No.U1637211)
关键词
非接触测量
激光轮廓传感器
精密扫描测量
noncontact measurement
laser profile sensor
precision scanning measurement
