激光跟踪视觉导引测量系统的全局校准方法.PDF

第 30 卷 第 11 期 仪 器 仪 表 学 报 Vol.30 No. 11 2009 年 11 月 Chinese Journal of Scientific Instrument Nov. 2009 * 激光跟踪视觉导引测量系统的全局校准方法 魏振忠，孙文，张广军，任少盟 （精密光机电一体化技术教育部重点实验室 北京航空航天大学 北京 100191） 摘 要：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。 关键词：全局校准；视觉导引；激光跟踪仪；柔性装配 中图分类号：TP391.41 文献标识码：A 国家标准学科分类代码：460.4030 Global calibration method for laser-tracking measurement system based on vision guiding Wei Zhenzhong, Sun Wen, Zhang Guangjun, Ren Shaomeng (Key Laboratory of Precision Opto-mechatronics Technology, Ministry of Education, Beihang University, Beijing 100191, China) Abstract: 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 po- sitions and orientations in the coordinate frames of both the vision system and laser tracker respectively, and calculating the transformation matrix bet