Global calibration method of laser tracking visual guidance measurement system

Abstract

A global calibration method of a laser tracking visual guidance measurement system comprises the steps of determining a visual system coordinate system and a laser tracker coordinate system; putting a plane target for at least three times and obtaining plane equations of the target plane, where the plane target is located in the visual system coordinate system and the laser tracker coordinate system at each putting position; and calculating a spatial transformation relation of the visual system coordinate system and the laser tracker coordinate system according to the coefficients of the obtained plane equations. The global calibration method of a laser tracking visual guidance measurement system in the invention realizes the global calibration of the laser tracking visual guidance measurement system by obtaining the plane equations of the target plane in the visual system coordinate system and the laser tracker coordinate system at the at least three positions of the plane target, so as to realize automatic assembly and butt joint of large-sized components, to improve assembly efficiency, and to save assembly cost.

Description

technical field [0001] The invention relates to vision measurement technology, in particular to a global calibration method for a laser tracking vision guidance measurement system. Background technique [0002] In the digital flexible assembly of large and super-sized parts, such as the docking of the fuselage and wing of a large civil aircraft, one or more laser trackers are generally used to track and measure the three-dimensional coordinates of the measurement reference points on the parts to be assembled, so that Realize tasks such as assembly and docking of large-size components. However, when a laser tracker is used to track and measure the three-dimensional coordinates of the measurement reference point on the parts to be assembled, the laser tracker needs manual guidance for position transformation during the measurement process, the assembly efficiency is low, and it consumes labor costs; Although one laser tracker does not need to change the position of the laser ...

AI Technical Summary

Problems solved by technology

[0004] However, for the global calibration of the laser tracking vision-guided measurement system, although the vision system can accurately measure the calibration points in space, the reflective ball of the laser tracker cannot accurately touch these calibration points, which makes the two have no common ground. , that is to say, the global calibration of the laser tracking vision-guided measurement system cannot be achieved using the above-mentioned global calibration method

Images