| 一种新型非接触位姿检测系统研究 |
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| 引用本文： | 孙先逵,秦岚.一种新型非接触位姿检测系统研究[J].光电工程,2007,34(1):50-54. |
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| 作者姓名： | 孙先逵 秦岚 |
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| 作者单位： | 1. 重庆大学,光电技术及系统教育部重点实验室,重庆,400030;重庆大学,实验室及设备管理处,重庆,400030
2. 重庆大学,光电技术及系统教育部重点实验室,重庆,400030 |
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| 摘 要： | 提出一种基于位置敏感探测器(简称PSD)多光束同步检测技术的位姿检测新方法,采用两个二维PSD从不同角度同时测量出目标物体上多个特征点的二维坐标,然后通过坐标变换计算得到各点的三维空间坐标;根据位姿变化前后的各点空间坐标,采用比较简单的算法计算出目标物体的位姿参数.通过算例验证该方法是可行的;由初步的实验获得目标物体的位姿参数,最大平移误差为1.0574mm,最大旋转误差为0.2851rad,需要通过多种途径进一步提高系统的检测精度.
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| 关 键 词： | 位置敏感探测器 同步检测 坐标变换 位姿检测 |
| 文章编号： | 1003-501X(2007)01-0050-05 |
| 收稿时间： | 2006/3/10 |
| 修稿时间： | 2006-03-10 |
New system of non-contact pose measurement |
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| SUN Xian-kui,QIN Lan.New system of non-contact pose measurement[J].Opto-Electronic Engineering,2007,34(1):50-54. |
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| Authors: | SUN Xian-kui QIN Lan |
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| Affiliation: | 1.Chongqing University Opto-Electronic Technology and Systems Key Lab of the State Ministry of Education, Chongqing 400030, China; 2. Lab and Equipment Management Department of Chongqing University, Chongqing 400030, China |
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| Abstract: | A new method based on detecting synchronously multiple light beams of Position Sensitive Detector (PSD) was presented in this paper. 2-D position coordinates of multiple representative points on a target were detected synchronously by two 2-D PSDs from different orientations, and then 3-D spatial coordinates were obtained with coordinate transform .The pose parameters of target could be figured out by easier algorithm through the fore-and-aft spatial coordinates of multiple representative points of pose change. The feasibility of this method was validated by illustration. The pose parameters of target are gotten through the primary experiments. The maximal error of displacement is 1.0574mm, and the maximal error of rotation angle is 0.2851rad. Therefore, the measurement precision of system needs to be improved further through some techniques. |
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| Keywords: | Position-sensitive detector Synchronous detection Coordinate transform Pose detection |
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