本文選題：激光測距傳感器　切入點：CCD像元細(xì)分算法　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：航天技術(shù)不斷發(fā)展,人類在太空中的活動越來越多,有大量太空任務(wù)需要完成,例如空間設(shè)備的維護(hù)和廢棄衛(wèi)星的捕獲等。由空間機械臂代替宇航員完成空間任務(wù),已經(jīng)成為航天工程研究的熱點�？臻g機械臂準(zhǔn)確完成任務(wù)的前提是能夠?qū)崟r、精確地檢測目標(biāo)的位置,當(dāng)機械臂距離任務(wù)目標(biāo)較遠(yuǎn)時,可以采用雷達(dá)、視覺等傳感方式對目標(biāo)位置進(jìn)行檢測,而當(dāng)距離特別近時,這些測量方法的精度和穩(wěn)定性是有限的。本文對近距離激光測距傳感器進(jìn)行研究,研制出一款高精度、高集成度的近距離實時測距傳感器,并對之進(jìn)行了性能分析及實驗研究。首先,本文從光學(xué)系統(tǒng)和電氣系統(tǒng)兩部分對激光測距傳感器進(jìn)行了分析及設(shè)計。針對光學(xué)系統(tǒng),結(jié)合任務(wù)要求,對光路及光學(xué)元件進(jìn)行了選擇,同時對光學(xué)系統(tǒng)進(jìn)行分析,提出了用于光學(xué)系統(tǒng)參數(shù)優(yōu)選的指標(biāo),對光學(xué)系統(tǒng)參數(shù)進(jìn)行設(shè)計。針對電氣系統(tǒng),綜合分析各種控制器的特點,本文以FPGA作為傳感器的主控制器,用VHDL硬件語言對傳感器各模塊進(jìn)行設(shè)計,實現(xiàn)了部分軟件功能的硬件化。其次,本文對CCD像元細(xì)分算法進(jìn)行研究并提出算法評價模型。為提高光斑中心的定位精度,提高傳感器的測量精度,搭建用于像元中心定位的Labview實時工作平臺,對多種像元細(xì)分算法進(jìn)行分析驗證;為選擇最適于本傳感器系統(tǒng)的像元細(xì)分算法,建立用于像元細(xì)分算法優(yōu)劣判定的層次分析模型,并利用該模型,針對本文研制的傳感器,對二分法等四種像元細(xì)分算法進(jìn)行評價。然后,對本文研制的傳感器的標(biāo)定方法進(jìn)行理論及實驗研究。針對總裝完成的傳感器,為減小加工和安裝等系統(tǒng)誤差對測量結(jié)果的影響,本文對傳感器的標(biāo)定方法進(jìn)行了理論和實驗研究,并對標(biāo)定結(jié)果進(jìn)行了組內(nèi)和組間檢驗,根據(jù)實驗結(jié)果,選擇分段多項式最小二乘擬合的標(biāo)定方法作為最終的標(biāo)定方法。最后,提出了一種利用三點距離來檢測平面位姿的算法。應(yīng)用本文設(shè)計的激光測距傳感器,對近距離的某一平面進(jìn)行了位姿檢測實驗。實驗結(jié)果表明,本文研制的激光測距傳感器能夠?qū)崟r、高精度地完成近距離的位姿檢測任務(wù),滿足機械臂末端對距離測量的要求。
[Abstract]:With the development of space technology, more and more human activities in space, there are a large number of space missions to be completed, such as the maintenance of space equipment and the capture of abandoned satellites. Space manipulator can detect the position of the target in real time and accurately. When the robot arm is far away from the target, radar can be used. Vision and other sensing methods detect the position of the target, but when the distance is very close, the accuracy and stability of these methods are limited. In this paper, a high precision laser ranging sensor is developed. The high integration real-time ranging sensor is analyzed and experimentally studied. Firstly, the laser ranging sensor is analyzed and designed from two parts: optical system and electrical system. According to the task requirements, the optical path and optical elements are selected. At the same time, the optical system is analyzed. The parameters of the optical system are selected and the parameters of the optical system are designed. Synthetically analyzing the characteristics of various kinds of controllers, this paper takes FPGA as the main controller of the sensor, designs each module of the sensor with the VHDL hardware language, and realizes the hardware of some software functions. Secondly, In this paper, the CCD pixel subdivision algorithm is studied and the algorithm evaluation model is put forward. In order to improve the location accuracy of spot center and the measurement precision of sensor, the real-time working platform of Labview for pixel center location is built. In order to select the most suitable pixel subdivision algorithm for the sensor system, a hierarchical analysis model is established for judging the advantages and disadvantages of the pixel subdivision algorithm. Four pixel subdivision algorithms, such as dichotomy, are evaluated. Then, the calibration method of sensor developed in this paper is studied theoretically and experimentally. In order to reduce the influence of system errors such as machining and installation on the measurement results, the calibration method of the sensor is studied theoretically and experimentally, and the calibration results are tested within and between groups, according to the experimental results. The calibration method of piecewise polynomial least square fitting is selected as the final calibration method. Finally, an algorithm using three-point distance to detect plane position and pose is proposed. The experimental results show that the laser ranging sensor developed in this paper can complete the task of position and attitude detection in real time and high precision, and meet the requirements of distance measurement at the end of the manipulator.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V526;V441

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本文編號：1595272