李佳田, 牛一如, 贺日兴, 贾成林, 李键, 吴华静. 同步带类运动控制器几何误差的成像检测方法[J]. 武汉大学学报 ( 信息科学版), 2019, 44(5): 723-730. DOI: 10.13203/j.whugis20170077
引用本文: 李佳田, 牛一如, 贺日兴, 贾成林, 李键, 吴华静. 同步带类运动控制器几何误差的成像检测方法[J]. 武汉大学学报 ( 信息科学版), 2019, 44(5): 723-730. DOI: 10.13203/j.whugis20170077
LI Jiatian, NIU Yiru, HE Rixing, JIA Chenglin, LI Jian, WU Huajing. A Geometrical Error Imaging Detection Method for Synchronous Belt Motion Controller[J]. Geomatics and Information Science of Wuhan University, 2019, 44(5): 723-730. DOI: 10.13203/j.whugis20170077
Citation: LI Jiatian, NIU Yiru, HE Rixing, JIA Chenglin, LI Jian, WU Huajing. A Geometrical Error Imaging Detection Method for Synchronous Belt Motion Controller[J]. Geomatics and Information Science of Wuhan University, 2019, 44(5): 723-730. DOI: 10.13203/j.whugis20170077

同步带类运动控制器几何误差的成像检测方法

A Geometrical Error Imaging Detection Method for Synchronous Belt Motion Controller

  • 摘要: 用于变形监测任务的激光雷达扫描仪需要采用运动控制器来变换探头位置以发射/接收光束,通常运动控制器由步进电机与同步带构成。提出了一种基于外方位元素标定的同步带类运动控制器误差模型建立方法,具体步骤为:①恢复运动轴上不同位置处已知控制点坐标与像平面坐标之间的单应关系,得到摄影机的内、外方位元素;②对不同位置处外方位元素中的平移向量进行线性运算后,求解相应的位置关系;③将输入脉冲数对应的距离作为真值,与所求位置关系作差得到多组误差数据,利用拟合对误差建立多项式模型。实验结果表明,利用该方法检测误差所需设备少且操作简单,所建误差模型精度达到亚毫米级,并能有效地对位置控制予以补偿;同步带类运动控制器的主要误差来源于同步带,以其作为基础的相关测绘仪器可分部件进行验校,以节省使用成本。

     

    Abstract: An error modeling method of synchronous belt motion controller based on the orientation calibration is proposed. The steps are:(1)restoring the homography between the known point coordinates and the image plane coordinates on the different positions of motion axis, then obtaining the interior and exterior orientation elements of the camera; (2)calculating the corresponding positional relationships between different positions by linearly operating the translation vectors in exterior orientation elements; (3)regarding the distance corresponding to pulses that you input as the true value, which can do the differential operator with the positon relationships previously calculated to obtain multiple sets of error data, then establishing the polynomial error model by fitting. Experiments show that the error modeling method needs less equipment and simple operation, and the model precision can reach to sub-millimeter level.

     

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