正交视觉与倾角仪组合空间位姿测量方法研究

为了解决跨尺度微小型零件在精密装配中宏尺度与微特征的测量分辨问题,提出了一种基于正交双目视觉与倾角仪组合的空间位姿高精测量系统。该系统建立了成像单元、倾角仪辅助测量单元、零部件夹持单元之间的坐标转换关系,并结合倾角仪提供的角度信息,提出了针对微小型零件的空间位姿高精测量解析算法。同时,以光纤阵列及连接头为研究对象,搭建了两零件的空间位姿实时测量及自动化装配测试平台。结果表明,在3mm×2mm×2mm的空间范围内,组合测量系统测得的位置与姿态偏差分别小于(±2μm,±2μm,±3μm)和(±0.005°,±0.004°,±0.005°)。相对于传统的测量方法,该组合测量系统显著提高了微器件的测量精度,可进一步满足微小型零件的空间位姿精密测量及自动化装配需求。

Research on orthogonal vision and inclinometer combination spatial pose measurement method

To solve the measurement and recognition contradiction between macro-scale and micro-feature of trans-scale miniature parts in precision assembly, a high-precision pose measurement system based on orthogonal binocular vision and inclinometer combination was proposed. The system built the coordinate transformation relationship among imaging unit, auxiliary measurement unit of inclinometer, and clamping unit of parts. An analytical algorithm for high-precision measurement of pose measurement of miniature parts based on the coordination transformation and angle measured by inclinometer was introduced. In experiment, fiber array and jumper were the research object, afterwards spatial pose constantly measurement and automatic assembly experimental platform was built. The results show that position and attitude deviation measured by the combined measurement system are less than (±2μm, ±2μm, ±3μm) and (±0.005°, ±0.004°, ±0.005°), respectively, in the field of 3mm×2mm×2mm. Compared with the traditional measurement methods, the system improves the measurement accuracy of the miniature parts significantly. This method can further satisfy the requirements of pose precision measurement and automatic assembly of miniature parts.