基于双目视觉的大型高反光构件测量系统  

Measurement system of large-scale high reflective component based on binocular vision

作　　者：马大智 于斌超 张彦泽 刘巍[1] 乐毅 杨继之 陈钦韬 MA Dazhi;YU Binchao;ZHANG Yanze;LIU Wei;YUE Yi;YANG Jizhi;CHEN Qintao(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China;Beijing Satellites Factory,China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024 [2]中国空间技术研究院北京卫星制造厂,北京100094

出　　处：《应用光学》2021年第4期577-585,共9页Journal of Applied Optics

基　　金：大型航天器舱体多安装面整体结构一体化加工应用示范(2018ZX04018001-005)。

摘　　要：为满足大型高反光构件的原位高效高精度测量,提出了一种基于双目视觉配合工业机器人的测量系统。该系统通过目标检测可以准确分割出视觉标志点所在的感兴趣区域,有效减少高反光表面造成的误提取,提高双目视觉测量系统的鲁棒性和测量效率。同时通过控制工业机器人末端运动,完成多位姿下对整个构件的测量,再通过多位姿间坐标转换关系将不同位姿测量的数据统一在同一坐标系下。实验结果表明:在1.2 m×1 m范围内拼接9个位姿后视觉测量精度RMS可达0.049 mm,整个测量系统能够有效完成对模拟舱体构件的高效高精度测量。A measurement system based on binocular vision and industrial robots was proposed to meet in-situ high-efficiency and high-precision measurement of large-scale high reflective components.Through target detection,the system could accurately segment the region of interest where the marking points were located,effectively reduce the false extraction caused by high reflective surface,and improve the robustness and measurement efficiency of binocular vision measurement system.At the same time,through controlling the movement of the robot end effectors,the measurement of the whole component in multi-position was completed,and then the measurement results of different positions were unified in the same coordinate system through the coordinate transformation relationship in multi-position.The experimental results show that in the range of 1.2 m×1 m,the root-mean-square(RMS)of vision measurement precision can reach to 0.049 mm in nine positions.The whole measurement system can effectively complete the high-efficiency and high-precision measurement of the simulated cabin components.

关 键 词：双目视觉 三维重建 工业机器人 卷积神经网络 

分 类 号：TN206[电子电信—物理电子学] TP391.4[自动化与计算机技术—计算机应用技术]