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Research on the Measurement Method of Micro-table Position and Pose Based on Binocular Vision

Author: YangSongGe
Tutor: LiHang
School: Henan University of Science and Technology
Course: Mechanical Manufacturing and Automation
Keywords: Binocular vision Micro bench Pose Measurement Feature points
CLC: TH703
Type: Master's thesis
Year: 2010
Downloads: 60
Quote: 0
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Abstract


When the amount of the geometry of the micro-mechanical testing at home and abroad , due to having a structure size small and the carrying capacity is also very tiny micro-mechanical characteristics , not easy to install for geometry amount detecting sensor , therefore, micro - mechanical geometry amount detection can only be using a non - contact measurement . Existing measurement methods is mainly used for the 3D morphology and the three-dimensional size of the micro - mechanical static measurement, the measurement of the contour motion measurement and dynamic performance , the information detected does not accurately describe the bit of the micro- mechanical (such as: a micro-mechanical motion platform ) position, while the measurement is the basis of control , therefore, can not be it sports the detection and evaluation of the accuracy . In view of the above situation , the paper proposes a method of measuring the position and orientation of the micro workbench , the method is based on the principle of binocular vision , get the position and attitude of the micro - bench in three-dimensional space , which can detect micro- bench in each sampling time motion error . This paper studies mainly the following: paper micromechanical abstract rectangular platform with regular shapes , ie the micro workbench , micro - point of the four corners of the table as a feature point , based on the principle of binocular vision combined coordinate transformation to obtain the three - dimensional position and orientation of the corner feature - based micro bench method for solving linear equations , there are analytical solutions , so no iteration solving . 2 camera parameters calibration , contrast camera calibration of linear and non-linear calibration method . Zhang template calibration method based on the establishment of the non-linear calibration of the cameras . Built experimental platform based on the coordinate measuring machine , extracting a characteristic angle point , combined with the coordinate transformation to the four corners of the world coordinates of the point on a coordinate measuring machine to verify the method feasibility . Discussed on the basis of the experiments , the factors that affect the measurement accuracy , and verify the feasibility of the method from a theoretical point of view . In short , the paper uses the principle of binocular vision around the position and orientation of the micro- table study solving method based micro - table position and orientation of the feature corner provides a theoretical basis for follow-up micro - table error detection and evaluation methods .

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CLC: > Industrial Technology > Machinery and Instrument Industry > Instruments, meters > General issues > Structure
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