同步带类运动控制器几何误差的成像检测方法
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摘要
用于变形监测任务的激光雷达扫描仪需要采用运动控制器来变换探头位置以发射/接收光束,通常运动控制器由步进电机与同步带构成。提出了一种基于外方位元素标定的同步带类运动控制器误差模型建立方法,具体步骤为:①恢复运动轴上不同位置处已知控制点坐标与像平面坐标之间的单应关系,得到摄影机的内、外方位元素;②对不同位置处外方位元素中的平移向量进行线性运算后,求解相应的位置关系;③将输入脉冲数对应的距离作为真值,与所求位置关系作差得到多组误差数据,利用拟合对误差建立多项式模型。实验结果表明,利用该方法检测误差所需设备少且操作简单,所建误差模型精度达到亚毫米级,并能有效地对位置控制予以补偿;同步带类运动控制器的主要误差来源于同步带,以其作为基础的相关测绘仪器可分部件进行验校,以节省使用成本。
An error modeling method of synchronous belt motion controller based on the orientation calibration is proposed. The steps are:(1)restoring the homography between the known point coordinates and the image plane coordinates on the different positions of motion axis, then obtaining the interior and exterior orientation elements of the camera;(2)calculating the corresponding positional relationships between different positions by linearly operating the translation vectors in exterior orientation elements;(3)regarding the distance corresponding to pulses that you input as the true value, which can do the differential operator with the positon relationships previously calculated to obtain multiple sets of error data, then establishing the polynomial error model by fitting. Experiments show that the error modeling method needs less equipment and simple operation, and the model precision can reach to sub-millimeter level.
An error modeling method of synchronous belt motion controller based on the orientation calibration is proposed. The steps are:(1)restoring the homography between the known point coordinates and the image plane coordinates on the different positions of motion axis, then obtaining the interior and exterior orientation elements of the camera;(2)calculating the corresponding positional relationships between different positions by linearly operating the translation vectors in exterior orientation elements;(3)regarding the distance corresponding to pulses that you input as the true value, which can do the differential operator with the positon relationships previously calculated to obtain multiple sets of error data, then establishing the polynomial error model by fitting. Experiments show that the error modeling method needs less equipment and simple operation, and the model precision can reach to sub-millimeter level.
引文
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[16]Yang Jianguo,Fan Kaiguo,Du Zhengchun.CNCMachine Tool Error Real-Time Compensation Technology[M].Beijing:Mechanical Industry Press,2013(杨建国,范开国,杜正春.数控机床误差实时补偿技术[M].北京:机械工业出版社,2013)
[17]Shen H,Fu J,He Y,et al.On-line Asynchronous Compensation Methods for Static/Quasi-static Error Implemented on CNC Machine Tools[J].International Journal of Machine Tools&Manufacture,2012,60(1):14-26
[18]Zhang Jianqing,Pan Li,Wang Shugen.The Principles of Photogrammetry[M].2nd ed.Wuhan:Wuhan University Press,2009(张剑清,潘励,王树根.摄影测量学原理[M].2版.武汉:武汉大学出版社,2009)
[19]Wang Zhizhuo.The Principles of Photogrammetry[M].Wuhan:Wuhan University Press,2007(王之卓.摄影测量原理[M].武汉:武汉大学出版社,2007)
[20]Zhang Z.A Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2000,22(11):1 330-1 334
[2]Zhang Wangxian.Design and Realization of Stereo Vision Measuring Probe Based on 3D Coordinate Measuring Machine[D].Wuhan:Wuhan University,2004(张望先.基于三坐标测量机的立体视觉测头设计与实现[D].武汉:武汉大学,2004)
[3]Yu Qiuze,Cao Ju,Tan Yihua,et al.Simulation of Intensity Image of Airborne-Based Imaging Laser Radar Based on DEM and Visible Image[J].Acta Geodaetica et Cartographica Sinica,2004,33(3):249-253(于秋则,曹矩,谭毅华,等.基于DEM与可见光图像的机载激光成像雷达强度像仿真[J].测绘学报,2004,33(3):249-253)
[4]Zhang Tao.Research on Control Algorithm of Photovoltaic Radar Target Simulator[D].Shenyang:Shenyang Aerospace University,2012(张涛.光电雷达目标模拟器控制算法研究[D].沈阳:沈阳航空航天大学,2012)
[5]Zou H R,Gong Z B,Xie S R.A Pan-tilt Camera Control System of UAV Visual Tracking Based on Biomimetic Eye[C].The 2006 IEEE International Conference on Robotics and Biomimetics,Kunming,China,2006
[6]Fahlstrom P G,Gleason T J.Introduction to UAVSystems[M].New Jersey:John Wiley&Sons,2012
[7]Liu Youwu,Liu Libing,Zhao Xiaosong,et al.Investigation of Error Compensation Technology for NCMachine Tool[J].China Mechanical Engineering,1998,9(12):48-52(刘又午,刘丽冰,赵小松,等.数控机床误差补偿技术研究[J].中国机械工程,1998,9(12):48-52)
[8]Schwenke H,Franke M,Hannaford J,et al.Error Mapping of CMMs and Machine Tools by a Single Tracking Interferometer[J].CIRP Annals-Manufacturing Technology,2005,54(1):475-478
[9]Ziegert J C,Mize C D.The Laser Ball Bar:A New Instrument for Machine Tool Metrology[J].Precision Engineering,1994,16(4):259-267
[10]Wang C.A Definition of Volumetric Error[J].Manufacturing Engineering,2005,134(1):16-17
[11]Li Zhen,Wang Hui,Jiang Yuwen.Laboratory Calibration of Phase-Terrestrial 3D Laser Scanner[J].Geomatics and Information Science of Wuhan University,2014,39(8):987-991(李振,王辉,蒋宇雯.相位式地面三维激光雷达实验室检校[J].武汉大学学报·信息科学版,2014,39(8):987-991)
[12]Cai Yinqiao,Tong Xiaohua,Shu Rong.Fast 3DImaging with Time-of-Flight Laser Scanner Based on Linear Array Scanning[J].Journal of Tongji University(Natural Science),2011,39(7):1 062-1 067(蔡银桥,童小华,舒嵘.基于线状阵列扫描的激光雷达快速三维成像[J].同济大学学报(自然科学版),2011,39(7):1 062-1 067)
[13]Lin Xiangguo,Zhang Jixian.3D Power Line Reconstruction from Airborne LiDAR Point Cloud of Overhead Electric Power Transmission Corridors[J].Acta Geodaetica et Cartographica Sinica,2016,45(3):347-353(林祥国,张继贤.架空输电线路机载激光雷达点云电力线三维重建[J].测绘学报,2016,45(3):347-353)
[14]Zhang Yi,Yan Li,Yang Hong,et al.Spherical Center Error of Sphere Target in TLS[J].Geomatics and Information Science of Wuhan University,2012,37(5):598-601(张毅,闫利,杨红,等.地面激光扫描球形标靶的球心误差研究[J].武汉大学学报·信息科学版,2012,37(5):598-601)
[15]Shen Lixia.Dynamics Simulation and Test Analysis of Timing-Belt Position System[J].Machine Tool&Hydraulics,2007,35(8):62-63(沈利霞.同步带定位系统的动力学仿真与实验分析[J].机床与液压,2007,35(8):62-63)
[16]Yang Jianguo,Fan Kaiguo,Du Zhengchun.CNCMachine Tool Error Real-Time Compensation Technology[M].Beijing:Mechanical Industry Press,2013(杨建国,范开国,杜正春.数控机床误差实时补偿技术[M].北京:机械工业出版社,2013)
[17]Shen H,Fu J,He Y,et al.On-line Asynchronous Compensation Methods for Static/Quasi-static Error Implemented on CNC Machine Tools[J].International Journal of Machine Tools&Manufacture,2012,60(1):14-26
[18]Zhang Jianqing,Pan Li,Wang Shugen.The Principles of Photogrammetry[M].2nd ed.Wuhan:Wuhan University Press,2009(张剑清,潘励,王树根.摄影测量学原理[M].2版.武汉:武汉大学出版社,2009)
[19]Wang Zhizhuo.The Principles of Photogrammetry[M].Wuhan:Wuhan University Press,2007(王之卓.摄影测量原理[M].武汉:武汉大学出版社,2007)
[20]Zhang Z.A Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2000,22(11):1 330-1 334