摘要
为了提升现有粒子辐照平台的工作效率,设计了一套基于机器人与视觉引导的自动化辐照试验平台。在试验平台的架构设计上,引入视觉系统实现辐照参数的实时设置和自动调用;通过分析特征点分布规律,结合目标显著性原理,提出一种基于区域分布差异的特征匹配方法来完成目标识别过程,进而正确调用对应目标的辐照参数;为了保证辐照精度,采用最小二乘法求解初始手眼关系,并根据标定误差为测量数据分配权重来修正手眼关系模型。实验表明,视觉系统能够精准识别目标,辐照误差范围合理,验证了所提方法的有效性,而且单次辐照流程缩短在2 min以内,显著提升了试验效率。
To improve the working efficiency of the existing particles irradiation platform,an automation irradiation experiment platform was designed based on the robot and visual guidance.The irradiation position parameters could be set in real time and transferred automatically by combining the experiment platform with vision system.By analyzing the distribution of feature points and the principle of saliency object detection,a feature matching method based on the differences of regional distribution was proposed to transfer irradiation position parameters correctly.In addition,the least square method was employed to calculate the initial hand-eye relationship.The weight was assigned to each measurement data according to its corresponding calibration error for modifying the hand-eye relationship.The experimental results showed that the target could be identified accurately by vision system and the irradiation error could be controlled in reasonable range,which confirmed the effectiveness of the proposed method.Simultaneously,the whole irradiation process could be completed in less than two minutes,which significantly improved the test efficiency.
作者
王诗宇
林浒
郑飂默
刘信君
孙树杰
WANG Shiyu;LIN Hu;ZHENG Liaomo;LIU Xinjun;SUN Shujie(University of Chinese Academy of Sciences,Beijing 100049,China;Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang 110168,China;Shenyang CASNC Technology Co.,Ltd.,Shenyang 110168,China;School of Electromechanical and Automotive Engineering,Yantai University,Yantai 264005,China)
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2021年第8期2331-2340,共10页
Computer Integrated Manufacturing Systems
基金
国家重点研发计划“智能机器人”专项资助项目(2018YFB1308803)
山东省自然科学基金资助项目(ZR2018BEE019)。
关键词
单粒子效应
视觉引导
特征匹配
最小二乘法
手眼标定
single event effects
visual guidance
feature matching
least square method
hand-eye calibration
