基于摄影测量的移动机器人末端标定方法研究  

Research on End Calibration Method of Mobile Robot Based on Photogrammetry

作　　者：王逸峰 逯永康 李俊卿 张洋[1] 刘巍[1] 王福吉[1] WANG Yifeng;LU Yongkang;LI Junqing;ZHANG Yang;LIU Wei;WANG Fuji(Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学,大连116024

出　　处：《航空制造技术》2022年第18期92-97,共6页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(51905077);大连市科技创新基金(2020JJ25CY005);国家商用飞机制造工程技术研究中心创新基金(COMAC-SFGS-2021-906);辽宁省科学技术计划项目(2020-BS-059)。

摘　　要：移动式机器人原位加工与装配技术已逐步应用于大型构件制造,而机器人末端定位能力是保证其制造质量的关键。针对机器人末端定位过程存在测量范围大、视线易遮挡和动态位姿变化复杂等问题,提出了基于摄影测量的机器人末端标定方法。首先利用摄影测量离线测量加工区域内的定位点,获取全局坐标系下定位点坐标;然后基于后方交会求解相机空间位姿,并标定相机与机器人末端位置关系;最后通过机器人末端相机的在位测量获取移动机器人末端姿态参数。结果表明,在物距为1000 mm时,三维各向位置精度优于0.19 mm、姿态角精度优于0.011°,验证了所提方法的有效性。Mobile robot in-situ processing and assembly technology has been gradually applied to the manufacture of large components,and the ability to locate the end of the robot is the key to ensure its manufacturing quality.Aiming at the problems of large measurement range,occlusion of the sight line,and complicated dynamic pose changes in the process of robot end positioning,a robot end calibration method combining single camera offline measurement positioning point and camera resection is proposed.Firstly,the positioning points in the processing area are measured offline by a photogrammetry camera and the coordinates of positioning points are obtained.Then,the spatial pose of camera is solved based on the principle of resection,and the pose relationship between the camera and robot end is calibrated.Finally,the pose parameters of the mobile robot end are obtained through the in-situ measurement of the camera attached on the robot end.Experimental results show that as the object distance is 1000 mm,the three-dimension position accuracy is better than 0.19 mm,and the attitude angle accuracy is better than 0.011°,which verifies the effectiveness of the proposed method.

关 键 词：移动机器人 摄影测量 后方交会 末端标定 基准转换 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程] TG95[金属学及工艺—钳工工艺]