Abstract:Relative pose is an important monitoring item in the assembly process. Aiming at the relative pose measurement requirements during the docking of large-scale components, a vision-based real-time measurement method of relative pose is proposed. Based on the monocular vision technology, relative poses of sections is calculated in real time with the images of cooperative targets, which can be useful for the assembly work. Firstly, a real-time relative pose measurement system is designed, including a vision measurement unit equipped with a monocular camera, and a cooperative target for pose calculation. Secondly, the complete process of relative pose measurement is studied, including system calibration method and real-time pose calculation method. Finally, the accuracy of the pose measurement system is tested in laboratory. The result shows that the repeatability of the pose measurement system perpendicular to the optical axis can reach 0.02mm, the repeatability along the optical axis is better than 0.2mm, and the time of pose measurement is less than 0.3s. The network measurement of multi-measuring unit is simulated, and the repeatability perpendicular to the optical axis is better than 0.1mm, the repeatability along the optical axis is better than 0.2mm, and the time of pose measurenent is less than 1.3s, which satisfies the requirement of pose monitor and docking state estimation for large-scale component docking.
杜福洲,叶晗鸣. 基于视觉的大尺度部件相对位姿实时测量方法研究[J]. 航空制造技术, 2021, 64(6): 34-40/47.
DU Fuzhou, YE Hanming. Research on Real-Time Relative Pose Measurement Method of Large-Scale Components Based on Vision. Aeronautical Manufacturing Technology, 2021, 64(6): 34-40/47.