为提高风电叶片复合材料多层铺贴的质量与效率,文中设计了一套视觉辅助自动标定的三维激光投影系统.系统采用全反射镜作为标靶,引入红外相机,建立视觉辅助的投影系统模型,利用相机与激光振镜间图像的单应性关系,标定二者之间的转换关系,并由此解算投影标靶在振镜投影坐标系的位姿,最后利用奇异值分解的方法求解激光振镜的投影矩阵.通过自主搭建三维激光投影系统实验平台,以投影幕布和网格纸作为投影面进行重投影试验,证明系统的可行性.实验结果表明,系统可以实现三维激光投影系统的自动标定,在投影距离为3 m的情况下,投影精度达到3.3 mm.
Abstract
In order to improve the quality and efficiency of composite multi-layer paving of wind turbine blades,in this paper,a set of three-dimensional laser projection system with vision-aided automatic calibration is designed.In this system,a total reflector is used as the target,an infrared camera is introduced,and a vision-aided projection system model was established.By using the homography relationship between the camera and the laser galvanometer,the conversion relationship between them was calibrated,and the position and posture of the projection target in the galvanometer projection coordinate system were calculated.Finally,the projection matrix of laser galvanometer was solved by singular value decomposition.The experimental platform of three-dimensional laser projection system was built independently,and the re-projection experiment was carried out with projection screen cloth and grid paper as the projection surface,which proves the feasibility of the system.The experimental results show that the system can realize the automatic calibration of 3D laser projection system,and the projection accuracy can reach 3.3 mm with a projection distance of 3 m.
关键词
风电叶片/三维激光投影/单应性矩阵/奇异值分解/标定方案
Key words
wind turbine blade/3D laser projection/homography matrix/singular value decomposition/calibration scheme
维普
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