基于多线结构光的电池阵列位姿测量技术研究

Research on position measurement technology of battery array based on multi-line structured light

获取机械手与电池阵列平面相对位姿是机械手对电池阵列平面自动操作的前提。针对多片状拼接特点的非合作电池阵列测量目标,提出了一种基于多线结构光的电池阵列平面位姿测量方法。该测量法采用多线结构光获取电池阵列上激光光条的图像,在图像中提取光条中心直线并进行短直线信息融合,依据不同光条之间的几何约束关系识别出直线组,进而基于直线组上的特征点求解相对位姿。在图像处理过程中,为快速获取高精度光条中心直线,提出了一种基于主成分分析与RANSAC相结合的光条中心直线提取方法。经实验验证,所提光条中心直线提取方法,精度与Steger算法相近,速度约为Steger算法的3倍;所提短直线信息融合方法能够改善位姿求解精度;所提测量方法求解的相对位置误差小于4.6 mm,相对姿态角误差小于2°,满足实际工程应用需求。

Obtaining the relative position and pose betweenthe manipulator and the battery array plane is the prerequisit A planar pose measurement method of battery array based on multi-line structured light was proposed for non-cooperative battery array measurement target characterized by multi-chip splicing.The measurement method uses multi-line structured light to acquire an image of the laser light strip on the battery array,extracted the laser center straight line in the image and fused the short line information,and then solves the relative position based on the feature points on the straight line group.In the process of image processing,in order to quickly obtain the high-precision laser center line,a method for extracting the center line of the light strip based on the combination of principal component analysis and RANSAC is proposed.Experiments have verified that the proposed laser center line extraction method has anaccuracy similar to that of the Steger algorithm,and the speed is about 3 times that of the Steger algorithm.The proposed short-line information fusion method can improve the accuracy of pose calculation.The relative position error of the proposed measurement method is less than 4.6 mm,and the relative attitude angle error is less than 2°,which meet the needs of practical engineering applications.