【作者】 王颖；

【导师】 孙茂相； 董再励；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 随着人们对产品性能、外形等方面要求的不断提高,具有自由曲面的工件和产品在现代人类社会中得到了越来越广泛的应用,并且伴随着航空、汽车、模具等现代工业的飞速发展,对具有自由曲面的物体的检测与加工变得越来越重要。传统的自由曲面主要采用接触式测量方法,如体视法、莫尔条纹法、光栅立体图法等,这些方法需要昂贵的仪器设备和训练有素的专门技术人员,而且测量周期长、效率低,这些缺点使得传统的接触式测量方法的发展受到了限制。曲面的非接触测量以其速度高、无磨损、连续性好等特点而越来越受到人们广泛的关注,并开始在科研与实践中得到了广泛的应用。 本文以自由曲面的自动化加工系统为应用背景,以自由曲面的自动在线检测为研究目标。研究如何将非接触光电测量技术装置与相应机器人系统相结合,构成关于平面或曲面透明壳体的厚度与外形自动测量系统,并实现该系统。从实际应用角度出发,采用线结构光方法进行曲面透明壳体厚度测量的研究。本文进行了理论和实验两方面的研究,主要的研究内容为: (1)根据非接触测量技术的发展状况和现实条件,对基于结构光测量原理的非接触式测量方法进行了深入研究;以应用线结构光技术的激光扫描测量系统作为研究内容,对精确提取光条中心的方法进行改进,建立了测量系统的数学模型。 (2)研究了摄像机测量系统标定方法,同时提出了一种基于投影矩阵M的机器人手眼标定线性化方法,在很大程度上提高了系统的标定精度。 (3)通过实验对测量系统进行了系统标定。深入分析了引起系统测量误差的原因,并利用神经网络对线结构光测量系统进行误差补偿,提高了系统的测量精度。更多还原

【Abstract】 With the continuous increasing requirement, the parts and products that have the free-form curved surface have got more and more extensive application in modern society. At the same time, with the rapid development of the aviation, space flight, automobile and mould industry, the measurement and process of the free-form curved surface objects have got more and more important. The traditional measurement methods such as stereoscopic law, Moll’s stripe law, grating cubic chart law and so on need expensive equipment and well-trained special technical staff, and they have long measurement cycle and low measurement efficiency. These shortcomings make the traditional contact measurement method hinder its wide application. The non- contact measurement system has paid more and more attention and got extensive application, which has advantages of high speed, no abrasion, and good continuity.The paper aims at realizing automatic online measurement of free-form surface with the system of processing for the background. The paper study how to constitute and implement an automatic measurement of thickness and form of planer or curved surface system combining non-contact photoelectric measuring technique and the corresponding robot system. The thickness measurement of the transparent curved surface object is investigated with the linear structured light method. This paper carries on the research of the theories and the experiment, main research contents are:(1) The non-contact measurement method based on the principle of linear structured light is studied according to the present conditions and development status of non-contact measurement. Laser scanning measurement using linear structured light is taken as emphases of research works. A mathematic models set up and a new algorithm of extracting the light strip center are developed.(2) The paper investigates the approach to camera measurement system calibration. An approach to hand-eye linear calibration based on project matrix M is developed, it improve the precision of the measurement system greatly.(3) The paper puts forward a system calibration scheme, and calibrates the measurement system by many experiments. The reason that caused measurement error is analyzed deeply. The paper makes use of the neural network to compensate linear structured light measurement system, so improve the measurement precision.更多还原