神光Ⅲ装置用搭载平台高准确度自动瞄准方法  

A Method for Shenguang Ⅲ Diagnostic Instrument Manipulator High Precision Automatic Aiming

作　　者：王维[1] 王拯洲[1] 何俊华[1] 张敏[1] 韦明智[1] 闫亚东[1] 

机构地区：[1]中科院西安光学精密机械研究所,西安710072

出　　处：《光子学报》2014年第6期201-205,共5页Acta Photonica Sinica

基　　金：国家自然科学基金(No.40805013)资助

摘　　要：为了实现搭载平台对打靶目标的高准确度定位瞄准,提出了一种基于视觉伺服的瞄准方法.定义视觉系统中的脱靶量与投影矩阵,并用投影矩阵计算脱靶量,使得计算值接近于真值;再使用三自由度混联机构运动模型,提高姿态调节准确度;最后,通过投影矩阵与运动模型优化视觉伺服策略,使得整个瞄准过程得到很大简化,不需较准视觉系统即可进行自动瞄准.将搭载平台安装到神光装置上进行自动瞄准准确度检测,得到其瞄准准确度为:X方向11μm,Y方向12μm,Z方向14μm.搭载条纹相机进行激光打靶考核验证,得到了物理实验过程的完整数据,表明该瞄准方法满足工程使用要求.In order to realize diagnostic instrument manipulator precise targeting, an aiming method based on visual servoing was proposed. Defined the target deviation and projection matrix in the vision system, the calculated target deviation value computed by projection matrix was closed to the true value. Using a 3-DOF hybrid mechanism motion mode, the motion accuracy was promoted. With optimizing visual servoing strategy based on projection matrix and motion mode, the total targeting work was greatly simplified, making the vision system calibration unnecessary. Automatic positioning tests indicate that pointing accuracy is 11μm in X direction and 12μm in Y direction. Radical positioning accuracy is 14μm. Laser shot tests with streak camera show that the automatic aiming method can satisfy the requirements of project.

关 键 词：搭载平台 视觉伺服 投影矩阵 运动模型 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]