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Vision-based six-degree-of-freedom small displacement detection method

A detection method and a technology of degrees of freedom, applied in the field of robotics, can solve the problem that the accuracy of the non-contact visual pose detection method cannot meet the requirements of multi-degree-of-freedom precision displacement detection accuracy, and achieve the effect of high detection accuracy

Inactive Publication Date: 2018-03-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The accuracy of the non-contact visual pose detection method based on monocular, binocular and structured light is still far from meeting the requirements of multi-degree-of-freedom precision displacement detection accuracy

Method used

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  • Vision-based six-degree-of-freedom small displacement detection method
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  • Vision-based six-degree-of-freedom small displacement detection method

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Embodiment Construction

[0027] The present invention will be described in detail below in combination with specific embodiments.

[0028] A circular disk is used as the object to be detected, and the center of its upper surface is as figure 1 Define the coordinate system OXYZ, where the XY plane is in the upper surface of the measured object, and Z is the normal direction of the upper surface of the measured object disc, then, record the displacements in the three translational degrees of freedom along the three coordinate axes are Tx, Ty, and Tz; record the rotational displacements on the three rotational degrees of freedom around the three coordinate axes according to the right-hand rule as Rx, Ry, and Rz. The method for detecting the small displacements of the six degrees of freedom proposed by the present invention will be described in detail below.

[0029] Step 1: First, see figure 2 with image 3 , set a rectangular visual target on the upper surface of the detected object, and set a colli...

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Abstract

The invention discloses a vision-based six-degree-of-freedom small displacement detection method. A rectangular visual target is arranged on the upper surface of an object to be detected, and a firstcollimating light source is arranged on the upper surface of the object to be detected, generates a first light spot on a first light receiver and conducts imaging on the rectangular visual target; the translation values Tx and Ty of the object to be detected are obtained according to the translation of an image of the rectangular visual target, and the rotational displacement value Rz of the object to be detected is obtained according to the rotation of the image of the rectangular visual target; the rotational displacement values Rx and Ry of the object to be detected are obtained accordingto the displacement of the first light spot; a planar reflection mirror is arranged at the position, deviating from the visual target, of the upper surface of the object to be detected, a second collimating light source is arranged above the object to be detected, collimating light emitted by the second collimating light source is reflected by the reflection surface and then received by the sensitive surface of a second light receiver, and the translational displacement value Tz of the object to be detected is obtained according to the displacement deltaYs of a second light spot. The method has the advantage that the accuracy of detecting six-degree-of-freedom displacement is high.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a vision-based six-degree-of-freedom small displacement detection method. Background technique [0002] At present, the measurement methods of six-degree-of-freedom displacement cover ultrasonic technology, infrared technology, electromagnetic technology and optical technology. From the basic structural form of the detection system, it can be divided into two types: contact measurement and non-contact measurement. Contact measurement can use three-dimensional coordinate measuring machine and multi-joint follow-up measurement system for static accuracy detection, but because the measurement of contact force will inevitably occur during the measurement process, it is not suitable for high-precision precision measurement requirements, nor is it suitable for being used The occasion where the measured object cannot be touched; the non-contact measurement has no measurement contact force,...

Claims

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Application Information

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IPC IPC(8): G01B11/02
CPCG01B11/02
Inventor 杨德华魏琦张少峰吴长铖费飞
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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