基于视觉原理的高精度6D传感器设计

Design of high-precision 6D sensor based on visual principle

针对现有的6D传感器精度低、通用性差的问题,设计了一种基于视觉原理的高精度6D传感器。分析了影响6D传感器精度的因素,着重考虑目标点的数目、位置和材料因素。设计了空间分布的6点红外发光目标的传感器结构。为实现高精度测量,利用双经纬仪系统对6D传感器的结构参数进行校准,研究了6D参数解算数学模型,设计了基于Levenberg—Marquardt(LM)的解算方法,采用了拉格朗日乘子法解决了算法迭代初值获取问题。实验数据表明:与标准装置对比6D传感器三个旋转角的均方根误差分别为0. 017°,0. 013°和0. 016°;三个平移参数均方根误差分别为0. 077,0. 095 mm和0. 079 mm。该传感器具备较高的现场应用价值。

In order to solve the problem of low precision and poor universality of the existing 6D sensors,a highprecision 6D sensor is designed based on visual principle.Factor which affect precision is analyzed,factors such as numbers,position and material of the target points are especially considered.Sensor structure of six-point infrared light target distributed in the space laser is designed.The double theodolites measurement network is used to calibrate the structure parameters of the 6D sensor in order to achieve high precision measurement.After the mathematic principle is given,solving methods for optimization based on Levenberg-Marquardt is designed and gain problem of the initial value based on Lagrangian multiplier is solved.The experimental data show that the root-mean-square errors of three rotation angles are 0.017°,0.013°and 0.016°.The root-mean-square errors of three translation parameters are 0.077 mm,0.095 mm,0.079 mm.The sensor has higher field application value.