摘要
在飞机大型构件测量领域,针对测量设备自动化转站时存在移动机器人无法准确到达站位的问题,提出了采用基于人工地标的移动机器人定位与调整技术实现转站时的精确定位。其次,设计了一种人工地标,给出使用激光跟踪仪的地标标定工装以及标定方法,通过该方法可得到地标在全局坐标系下的坐标。同时,介绍了地标的编码与位姿的解算方法,以及移动机器人位姿调整策略。最后,试验表明,人工地标测量的位置和角度误差均较小,移动机器人通过人工地标的定位与调整后的精度可以满足自动化转站的精度要求。
About measuring large-scale components of aircraft, there is a problem that the mobile robot cannot reach the station accurately when measuring equipment transfers automatically. Therefore, this paper puts forward the mobile robot positioning and adjustment based on artificial landmarks to realize the precise positioning during the transfer. Next, this paper designs an artificial landmark using the laser tracker which can obtain coordinates of the landmark in the global coordinate system. Besides, this paper introduces the coding method, the solution method of the pose of the landmark and the posture adjustment strategy of the mobile robot. Finally, based on experiments, this paper comes to a conclusion that the position and angle errors measured by artificial landmarks are small, and the accuracy requirement of the automatic transfer station can be met using mobile robot positioning and artificial landmarks.
作者
李俊杰
黄翔
李泷杲
曾琪
主逵
LI Junjie;HUANG Xiang;LI Shuanggao;ZENG Qi;ZHU Kui(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China;Shenzhen JT Automation Equipment Co.,Ltd.,Shenzhen 518126,China)
出处
《航空制造技术》
2020年第5期80-86,共7页
Aeronautical Manufacturing Technology
基金
国防基础科研项目(JCKY2018205A001)。
关键词
自动化转站
单目视觉
人工地标
移动机器人
定位
Automated station-transfer
Monocular vision
Artificial landmark
Mobile robot
Location
