基于iGPS定位跟踪的三维形貌测量系统标定方法
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摘要
基于iGPS定位跟踪的三维形貌测量系统,建立了测量系统的数学模型,介绍了传统手眼标定技术的主要原理,使用激光跟踪仪建立了系统转换关系。提出了一种融合特征点拟合的标定方法,利用特征点约束和基于罗德里格矩阵的算法得到了转换关系。对标定后的系统进行了基于机器人基坐标系和iGPS世界坐标系的点云拼接对比实验,实验结果表明,融合特征点拟合的标定方法提高了点云拼接的精度。
Based on the three-dimensional shape measurement system of iGPS positioning and tracking,a mathematical model of this system is established,and the main principle of the traditional hand-eye calibration technology is introduced.Then the system conversion relationship is established with the laser tracker.A calibration method based on feature point fitting is proposed and the transformation relationship is solved by the feature point constraint and the Rodrigue matrix based algorithm.The point cloud splicing contrast experiments based on the robot base coordinate system and the iGPS world coordinate system are performed on the calibration system.The experimental results show that the calibration method based on fusion feature point fitting improves the precision of point cloud splicing.
Based on the three-dimensional shape measurement system of iGPS positioning and tracking,a mathematical model of this system is established,and the main principle of the traditional hand-eye calibration technology is introduced.Then the system conversion relationship is established with the laser tracker.A calibration method based on feature point fitting is proposed and the transformation relationship is solved by the feature point constraint and the Rodrigue matrix based algorithm.The point cloud splicing contrast experiments based on the robot base coordinate system and the iGPS world coordinate system are performed on the calibration system.The experimental results show that the calibration method based on fusion feature point fitting improves the precision of point cloud splicing.
引文
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[4]Hong L,Tian Q L,Ji B J.Calibration method for line structured-light parameters based on homography matrix[J].Acta Photonica Sinica,2015,44(12):1212003.洪磊,田啟良,嵇保健.基于单应性矩阵的线结构光参量标定法[J].光子学报,2015,44(12):1212003.
[5]Zhang T,Zhang M H,Zou Y B.Path planning of robot processing based on three-dimensional point cloud[J].Chinese Journal of Lasers,2018,45(5):0502009.张铁,张美辉,邹焱飚.基于三维点云的机器人加工轨迹规划[J].中国激光,2018,45(5):0502009.
[6]Zhang Z R,Zhang X,Zheng Z L,et al.Hand-eye calibration method fusing rotational and translational constraint information[J].Chinese Journal of Scientific Instrument,2015,36(11):2443-2450.张召瑞,张旭,郑泽龙,等.融合旋转平移信息的机器人手眼标定方法[J].仪器仪表学报,2015,36(11):2443-2450.
[7]Gu Y X,Ma J S.Research on an algorithm about 3Dprofile measurement based on laser feedback[J].Optical Instruments,2015,37(1):1-3,8.谷亚先,马军山.利用激光反馈测量物体三维形貌[J].光学仪器,2015,37(1):1-3,8.
[8]Hou M S,Wang Q,Ma G Q,et al.Calibration and verification method for 3Dshape flexible measurement system[J].Journal of Applied Optics,2018,39(3):385-391.侯茂盛,王强,马国庆,等.三维形貌柔性测量系统标定方法及验证[J].应用光学,2018,39(3):385-391.
[9]Li D K,Ye S H,Ren Y J,et al.Research on robot′s positioning accuracy calibration[J].Acta Metrologica Sinica,2007,28(3):224-227.李定坤,叶声华,任永杰,等.机器人定位精度标定技术的研究[J].计量学报,2007,28(3):224-227.
[10]Zhao M L,Ma X,Zhang Z B,et al.Threedimensional shape absolute measurement based on laser speckles[J].Chinese Journal of Lasers,2016,43(2):0208001.赵明路,马骁,张子邦,等.激光散斑三维形貌绝对测量技术[J].中国激光,2016,43(2):0208001.
[11]Jiang Q,Zhang Y Z,Zhang S Q,et al.Path planning method of the AGV navigated by IGPS in aircraft digital assembly[J].Aeronautical Manufacturing Technology,2016(22):72-77,83.蒋倩,张云志,张少擎,等.飞机数字化装配中IGPS导航的AGV路径规划方法[J].航空制造技术,2016(22):72-77,83.
[12]Pi1a E.Rotations with Rodrigues′vector[J].European Journal of Physics,2011,32(5):1171-1178.
[13]Yang S R,Yin S B,Ren Y J,et al.Improvement of calibration method for robotic flexible visual measurement systems[J].Optics and Precision Engineering,2014,22(12):3239-3246.杨守瑞,尹仕斌,任永杰,等.机器人柔性视觉测量系统标定方法的改进[J].光学精密工程,2014,22(12):3239-3246.