Global calibration method of laser tracking visual guidance measurement system

A technology of vision guidance and global calibration, which is applied in the field of vision measurement, can solve the problems of lack of calibration reference objects and the inability to realize the global calibration of the laser tracking vision guidance measurement system, etc., to achieve automatic assembly and docking, save assembly costs, and improve The effect of assembly efficiency

Inactive Publication Date: 2009-09-16
BEIHANG UNIV
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Problems solved by technology

[0004] However, for the global calibration of the laser tracking vision-guided measurement system, although the vision system can accurately measure the calibration points in space, the reflective ball of the laser tracker cannot accurately

Method used

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  • Global calibration method of laser tracking visual guidance measurement system
  • Global calibration method of laser tracking visual guidance measurement system
  • Global calibration method of laser tracking visual guidance measurement system

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Embodiment

[0076] The planar target that embodiment adopts is as image 3 shown.

[0077] In this embodiment, the planar target is placed five times. According to the method described in step 13, the plane equation coefficients of the target plane in the visual system coordinate system at each placement position are obtained as shown in Table 1. According to step 14 The method of obtaining the plane equation coefficients of the target plane in the laser tracker coordinate system at each placement position is shown in Table 2:

[0078]

[0079]

[0080] Table 1

[0081]

[0082] Table 2

[0083] Based on the above results, according to the method described in step 16, calculate the spatial conversion relationship between the visual system coordinate system and the laser tracker coordinate system as:

[0084] Rotation matrix: R ^ = 0.8517 0....

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Abstract

A global calibration method of a laser tracking visual guidance measurement system comprises the steps of determining a visual system coordinate system and a laser tracker coordinate system; putting a plane target for at least three times and obtaining plane equations of the target plane, where the plane target is located in the visual system coordinate system and the laser tracker coordinate system at each putting position; and calculating a spatial transformation relation of the visual system coordinate system and the laser tracker coordinate system according to the coefficients of the obtained plane equations. The global calibration method of a laser tracking visual guidance measurement system in the invention realizes the global calibration of the laser tracking visual guidance measurement system by obtaining the plane equations of the target plane in the visual system coordinate system and the laser tracker coordinate system at the at least three positions of the plane target, so as to realize automatic assembly and butt joint of large-sized components, to improve assembly efficiency, and to save assembly cost.

Description

technical field [0001] The invention relates to vision measurement technology, in particular to a global calibration method for a laser tracking vision guidance measurement system. Background technique [0002] In the digital flexible assembly of large and super-sized parts, such as the docking of the fuselage and wing of a large civil aircraft, one or more laser trackers are generally used to track and measure the three-dimensional coordinates of the measurement reference points on the parts to be assembled, so that Realize tasks such as assembly and docking of large-size components. However, when a laser tracker is used to track and measure the three-dimensional coordinates of the measurement reference point on the parts to be assembled, the laser tracker needs manual guidance for position transformation during the measurement process, the assembly efficiency is low, and it consumes labor costs; Although one laser tracker does not need to change the position of the laser ...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 魏振忠孙文张广军
Owner BEIHANG UNIV
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