Research On Reflector Collimation Technology Based On Robot Vision

As a kind of angle measuring equipment, the electronic autocollimator with the obvious advantages such as high precision, strong adaptability and small size, has been widely used in the field of aerospace, national defense and scientific research. Nowadays, even though the international advanced autocollimator with high angle measurement precision cannot break through the limitations of the field of view and collimation range is too small, requiring complex manual adjustment prior to use, which cannot be applied to large automatic measurement system. Therefore, research on the automation assisted collimation technology to autocollimator is imminent.In order to realize automatic scan and collimation to assist the autocollimator to break through the limitations and collimate the angle of the target reflector in the large field of view, a compact and inexpensive measurement system based on monocular vision theory is established, through analyzing the research status of angle measurement technology.Then a kind of relative light intensity received theory based on the relationship between the deflection angle of the reflector normal and the light intensity received by the system, has been applied to solve the image blurring problem. The mathematical model based on divergent light could expand the measurement range, and the robust symmetry of the characteristic parameter has been verified throughout the whole measured space.Furthermore, the components of the vision collimation system, contains of monocular vision camera and ring light, have been designed and purchased to build the hardware structure of the system, which would be overall packaged in a stable mechanical structure. And a piece of vision collimation software using Lab VIEW has been developed to control all the hardware in the system with the advantages of beautiful interface, convenient operation, clear structure and complete functions.Finally, a kind of image processing algorithm to extract the feature of target reflector from the real-time image captured by the vision collimation system is established to instead of the characteristic parameter of the mathematical model. And the single-axis swing scan algorithm would be built to calculate the characteristic parameter in the process of cycling rotation, which has been designed and embedded in the vision collimation system to collimate the angle of the target reflector.Experimental results indicate that the absolute collimation precision of the automatic vision system has up to 200″ with scanning ranges up to 10° in the distance of 500 mm to 1500 mm, which can meet the collimation requirement and guide the target reflector into the range of autocollimator automated.