基于摄影测量的机器人移动跟踪测量系统  

Robot movement tracking measurement system based on photogrammetry

作　　者：夏常青 吴龙 彭文君 陆冠含 XIA Changqing;WU Long;PENG Wenjun;Lu Guanhan(CRRC Changchun Railway Vehicles Co.,LTD,,Changchun130062,China;Wuxi CRRC Times Intelligent Equipment Co.,Ltd,Wuxi214174,Chin)

机构地区：[1]中车长春轨道客车股份有限公司,长春130062 [2]无锡中车时代智能装备有限公司,江苏无锡214174

出　　处：《光学技术》2025年第2期233-239,246,共8页Optical Technique

基　　金：面上基金项目(52075204)。

摘　　要：如何提高测量范围与多位姿测量数据融合精度是实现大构件高精度测量的关键。文章设计了一种基于摄影测量的机器人移动跟踪测量系统,实现了大范高精度多位姿测量数据融合,完成了高速列车车体的测量。具体地,针对高速列车车体尺寸达25m×4m×4m,单测量设备范围有限的问题,系统通过机器人抓取结构光设备与导轨对机器人的移动实现了系统大范围的测量。为了实现多位姿下高精度测量数据融合,系统通过多个单目相机跟踪测量相机的移动,实现多个位姿下的测量数据快速,并利用跟踪数据准确地对齐至同一坐标系。将系统与激光跟踪仪T-Scan测量系统分别对车门尺寸进行测量实验,实验验证了所设计的测量系统和激光仪T-Scan测量系统的测量精度相当。How to improve the fusion accuracy of measurement range and multi-position measurement data is the key to realize high precision measurement of large components. A mobile robot tracking measurement visual tracking system based on photogrammetry is designed to realize the fusion of multi-position measurement data with large precision and complete the measurement of high-speed train body. Specifically, aiming at the problem that the high-speed train body size is up to 25m×4m×4m and the range of single measuring equipment is limited, this system realizes the measurement of a wide range of the system through the robot grasping structural light equipment and guide rail to move the robot. In order to achieve high-precision measurement data fusion in multi-position pose, the system uses multiple monocular cameras to track the movement of measurement cameras, realizing rapid measurement data in multi-position pose and accurately aligning the tracking data to the same coordinate system. The system and laser tracker T-Scan measuring system are respectively used to measure the size of the door, and the experiment verifies that the measuring accuracy of the designed measuring system is equivalent to that of the laser tracker T-Scan measuring system.

关 键 词：移动机器人测量 工业摄影测量 结构光测量 高速列车车体 

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]