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浙江大学学报(工学版)
浙江大学学报(工学版)
机械工程     
基于视觉测量的环形轨底座位姿标定方法
张阿龙, 章明, 乔明杰, 朱伟东, 梅标
1.浙江大学 机械工程学院,浙江 杭州 310027| 2.西安飞机工业（集团）有限责任公司,陕西 西安 710089
Base frame calibration of circumferential splice drilling system based on visual measurement
ZHANG A long, ZHANG Ming, QIAO Ming jie, ZHU Wei dong, MEI Biao
1. Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China;
2. AVIC Xi’an Aircraft Industry (Group) Co. Ltd, Xi’an 710089, China
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摘要：

为了提高环形轨道制孔系统转站之后的定位精度,消除由制造、装配、安装以及运动误差对其造成的影响,提出基于视觉测量的环形轨道制孔系统底座位姿标定方法.针对环形轨道制孔系统进行几何建模并确立手眼关系,建立从底座坐标系到相机坐标系的坐标系系统,论述视觉测量原理.通过对预制基准孔进行测量,并结合基于LevenbergMarquardt最小二乘算法的孔位匹配方法,确定实际底座坐标系与理论飞机坐标系之间的关系,完成环形轨道制孔系统的底座坐标系位姿标定.实验结果表明:基于视觉测量的底座坐标系位姿标定方法,误差小于2 mm,成本低廉、操作简单且完全满足底座坐标系位姿标定要求.
Abstract:

 A new base frame calibration method based on visual measurement was proposed and demonstrated in order to improve the positioning accuracy of the circumferential splice drilling system after automatic stepping process, and to eliminate the impact of errors caused by manufacturing, assembly, installation and motion. By establishing the kinematic model and handeye relationship of the system, a coordinate system of the equipment from base to camera was set up, which determined the visual measurement principle. With this principle, some prefabricated benchmark holes were measured and the relationship between actual base frame and theoretical aircraft coordinate systems could be achieved by using holematching method based on LevenbergMarquardt least squares fitting algorithm. Experimental results show that the proposed base frame calibration method based on visual measurement could achieve the accuracy within 2 mm, which totally meets the requirement of base frame calibration. The results also reveal correctness and convenience of the proposed method.
出版日期: 2016-06-01
:  TP 242.3  
基金资助:

 国家自然科学基金资助项目（51205352）.
通讯作者: 朱伟东,男,副教授,博士. ORCID: 0000000340671450.     E-mail: wdzhu@zju.edu.cn
作者简介: 张阿龙（1990—）,男,硕士生,从事机械制造及其自动化研究. ORCID： 0000000159938755. E-mail: zalzju@qq.com
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引用本文:

张阿龙, 章明, 乔明杰, 朱伟东, 梅标. 基于视觉测量的环形轨底座位姿标定方法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008973X.2016.06.010.

ZHANG A long, ZHANG Ming, QIAO Ming jie, ZHU Wei dong, MEI Biao. Base frame calibration of circumferential splice drilling system based on visual measurement. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008973X.2016.06.010.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008973X.2016.06.010    或    http://www.zjujournals.com/eng/CN/Y2016/V50/I6/1080

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