筒形件姿态的非接触无靶标自动综合测量及求解

张解语; 仇原鹰; 宁博; 杨长祺; 钟珂珂

doi:10.3788/OPE.20182612.2963

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筒形件姿态的非接触无靶标自动综合测量及求解

微纳技术与精密机械 | 更新时间：2020-07-05

- 筒形件姿态的非接触无靶标自动综合测量及求解
- Automatic comprehensive noncontact measurement and solution method for cylindrical workpieces without targets
- 光学精密工程 2018年26卷第12期页码：2963-2970
- 作者机构：
  
  1.西安电子科技大学电子装备结构设计教育部重点实验室, 陕西西安 710071
  2.上海航天精密机械研究所, 上海 201600
- 作者简介：
  
  [ "张解语(1991-), 男, 博士研究生, 2014年于西北工业大学获得学士学位, 主要研究方向为电子机械系统动力学与控制、智能机器人技术。E-mail:xdzhangjieyu@sina.com" ]
  [ "仇原鹰(1955-), 男, 教授, 博士生导师, 1982、1987年于西北工业大学分别获得学士、硕士学位, 2002年于西安电子科技大学获得博士学位, 主要研究方向为机械CAD/CAE/CAM, 机电一体化。E-mail:yyqiu@mail.xidian.edu.cn" ]
- 基金信息：
  
  国家自然科学基金联合基金项目资助(No.U1637211)
- DOI：10.3788/OPE.20182612.2963
  中图分类号： TH741
- 收稿日期：2018-04-13，
  
  录用日期：2018-6-3，
  
  纸质出版日期：2018-12-25
- 稿件说明：
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张解语, 仇原鹰, 宁博, 等. 筒形件姿态的非接触无靶标自动综合测量及求解[J]. 光学精密工程, 2018,26(12):2963-2970.

Jie-yu ZHANG, Yuan-ying QIU, Bo NING, et al. Automatic comprehensive noncontact measurement and solution method for cylindrical workpieces without targets[J]. Optics and precision engineering, 2018, 26(12): 2963-2970.
张解语, 仇原鹰, 宁博, 等. 筒形件姿态的非接触无靶标自动综合测量及求解[J]. 光学精密工程, 2018,26(12):2963-2970. DOI： 10.3788/OPE.20182612.2963.

Jie-yu ZHANG, Yuan-ying QIU, Bo NING, et al. Automatic comprehensive noncontact measurement and solution method for cylindrical workpieces without targets[J]. Optics and precision engineering, 2018, 26(12): 2963-2970. DOI： 10.3788/OPE.20182612.2963.

摘要

在筒形件自动化对接过程中，需对其姿态进行无靶标精密测量和调整。本文采用激光轮廓传感器对被测件进行扫描获得点云数据，推导得出点云数据的直线拟合公式，并进行了姿态拟合求解。基于蒙特卡洛数值模拟，对筒形件的轴线拟合法和母线拟合法进行比较，并根据两种方法各自的优缺点，提出采用轴线拟合法求解俯仰角、母线拟合法求解偏转角的综合测量求解方法，显著提高了姿态测量精度。此外，探讨了截取椭圆个数、每个椭圆上的轮廓点数与姿态求解精度之间的关系，为在满足测量精度的同时兼顾测量效率提供了参考依据。最后，利用原理样机和激光跟踪仪进行了测量实验。实验结果显示，轴线姿态角测量的绝对精度优于0.02°，标准差低于0.01°，由此证明了本文方法的有效性和准确性。

Abstract

During the automatic docking of cylindrical workpieces

it may be necessary to measure the orientation of workpieces accurately without targets. For this reason

a precision scanning method without targets was utilized. The point cloud data was obtained by a laser profile sensor

and the postures were determined by a comprehensive method. Based on Monte-Carlo simulation

the accuracies of the axis fitting method and bus section fitting method were compared

and a new comprehensive method was proposed further. In this study

the pitch angle was obtained by the axis fitting method

the deflection angle was obtained by the bus section fitting method

and the measurement accuracy was significantly improved. In addition

to balance the accuracy and efficiency

the relationship among the number of intercepted ellipses

the number of contour points on each ellipse

and the precision were discussed. Finally

a prototype experiment was conducted to prove the validity and accuracy of the comprehensive method. It is proved that the absolute accuracy of the axis attitude is better than 0.02°

and the standard deviation is less than 0.01°.

关键词

Keywords

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