基于双PSD视觉的空间光点位置测量研究

Research on spatial spot position measurement based on dual PSD vision

目前基于光学测量法的空间目标位姿探测系统主要采用单目视觉和双目立体视觉两种,其中双目视觉得益于利用仿生学视差原理,通过光学三角测量法即可计算出目标的空间相对位置,从而得到广泛应用。此外,针对于传统CCD、CMOS视觉相机繁杂的图像处理过程,提出了将双目视觉原理与位置敏感探测器(PSD)结合应用于空间光点位置的探测方法,利用PSD探测响应速度快、分辨率高等特性,将图像处理转换为光电探测器的信号处理过程,并搭建了具体的合作光点的位置探测系统。实验结果表明,PSD视觉相X和Y方向坐标波动均在±130μm,且探测系统精准还原了空间光点在距离1000 mm的160 mm×160 mm×200 mm立方体空间内的运动轨迹,其定位误差为4.35 mm,随深度每增加50 mm,误差增加约27%,系统的平均误差为7.30 mm,稳定性较好。

At present,the spatial target position detection system based on optical measurement method mainly adopts monocular vision and binocular stereo vision,of which binocular vision benefits from the use of bionic parallax principle,and the spatial relative position of the target can be calculated by optical triangulation,which is widely used.In addition,in view of the complicated image processing process of traditional CCD and CMOS vision cameras,a detection method that combines the principle of binocular vision and PSD sensor to apply to the position of the light spot in space is proposed.The image processing is converted into the signal processing process of the photodetector,and a specific position detection system of the cooperative light spot is built.Experimental results show that the PSD visual phase X and Y direction coordinate fluctuations are within±130μm,and the detection system accurately restores the motion trajectory of the spatial light point in the 160 mm×160 mm×200 mm cubic space at a distance of 1000 mm,and its positioning error is 4.35 mm,with each 50 mm increase in depth,the error increases by about 27%,and the average error of the system is 7.30 mm,with good stability.