基于视觉测量的环形轨底座位姿标定方法  

Base frame calibration of circumferential splice drilling system based on visual measurement

作　　者：张阿龙[1] 章明[1] 乔明杰[2] 朱伟东[1] 梅标[1] 

机构地区：[1]浙江大学机械工程学院,浙江杭州310027 [2]西安飞机工业集团有限责任公司,陕西西安710089

出　　处：《浙江大学学报（工学版）》2016年第6期1080-1087,1133,共9页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(51205352)

摘　　要：为了提高环形轨道制孔系统转站之后的定位精度,消除由制造、装配、安装以及运动误差对其造成的影响,提出基于视觉测量的环形轨道制孔系统底座位姿标定方法.针对环形轨道制孔系统进行几何建模并确立手眼关系,建立从底座坐标系到相机坐标系的坐标系系统,论述视觉测量原理.通过对预制基准孔进行测量,并结合基于Levenberg-Marquardt最小二乘算法的孔位匹配方法,确定实际底座坐标系与理论飞机坐标系之间的关系,完成环形轨道制孔系统的底座坐标系位姿标定.实验结果表明:基于视觉测量的底座坐标系位姿标定方法,误差小于2mm,成本低廉、操作简单且完全满足底座坐标系位姿标定要求.A new base frame calibration method based on visual measurement was proposed and demonstrated in order to improve the positioning accuracy of the circumferential splice drilling system after automatic stepping process,and to eliminate the impact of errors caused by manufacturing,assembly,installation and motion.By establishing the kinematic model and hand-eye relationship of the system,a coordinate system of the equipment from base to camera was set up,which determined the visual measurement principle.With this principle,some prefabricated benchmark holes were measured and the relationship between actual base frame and theoretical aircraft coordinate systems could be achieved by using hole-matching method based on Levenberg-Marquardt least squares fitting algorithm.Experimental results show that the proposed base frame calibration method based on visual measurement could achieve the accuracy within 2mm,which totally meets the requirement of base frame calibration.The results also reveal correctness and convenience of the proposed method.

关 键 词：环形轨道制孔系统 几何建模 视觉测量 最小二乘法 底座坐标系标定 LEVENBERG-MARQUARDT 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]