The Design Of The Orthogonally-Splitting-Imaging Pose Sensor

In order to resolve the confliction among measurement speed, measurement precision and measurement range in multiple line CCDs pose system, a new figuration of pose sensor has been designed, which combines the monocular vision and the two line CCDs with splitting prism. In this way, the advantage of large field of view of monocular vision and the advantage of high speed and high precision of line CCDs can be joined together. To realize the combination, the object lenses are responsible of imaging, whose two-dimensional image is then spilt by the prism to the two set of cylindrical lenses. Then, the two sets of cylindrical lenses compress the image into a line spot to intersect with the line CCD, and then the horizontal as well as vertical coordinates can be derived.The main topics and key techniques are composed of the following four parts:1. The optical design of the orthogonally-splitting-imaging pose sensor, which includes the set of the optical parameters, the design of the original structure, the correction of the image imperfection, as well as the mutual coordination.2. The establishment of the distortion model of the pose sensor, which combines the cylindrical and spherical lenses distortion models due to the distortion sources.3. The design of the mechanical structure, which includes the design of the filter lens barrel, the spherical lenses barrel, the cylindrical lenses and the splitting barrels.4. The evaluation of the imaging precision of the pose sensor. The simulation and experimental results show that the pose sensor can obtain high-precision imaging of infrared LED signs within the large field of view of 53 °. Besides, after the distortion correction, the measurement error caused by the imaging can be reduced to 0.5 pixels, and the measurement accuracy can be achieved 0.1mm. And thus meet the high-speed high-precision measurement requirements. Besides, the sensor is simple and the cost is reasonable.