基于六轴机器人的 BRDF 绝对测量装置标校方法研究

doi:10.3969/j.issn.1007-5461.2022.05.003

量子电子学报 ›› 2022, Vol. 39 ›› Issue (5): 707-719.doi: 10.3969/j.issn.1007-5461.2022.05.003

基于六轴机器人的 BRDF 绝对测量装置标校方法研究

斯鹏飞1,2 , 张黎明1∗ , 黄文薪1 , 陈洪耀1 , 李佳伟1,2 , 张志远1,2 , 杨宝云1 , 王戟翔1

( 1 中国科学院合肥物质科学研究院安徽光学精密机械研究所通用光学定标与表征技术重点实验室, 安徽合肥 230031; 2 中国科学技术大学, 安徽合肥 230026 )

收稿日期:2021-03-01 修回日期:2021-03-22 出版日期:2022-09-28 发布日期:2022-09-28
通讯作者: E-mail: lmzhang@aiofm.ac.cn E-mail:E-mail: lmzhang@aiofm.ac.cn
作者简介:斯鹏飞 ( 1994 - ), 安徽池州人, 研究生, 主要从事光学检测技术方面的研究。 E-mail: 1040239042@qq.com

Calibration method of BRDF absolute measurement device based on six axis robot

SI Pengfei 1,2 , ZHANG Liming 1∗ , HUANG Wenxin 1 , CHEN Hongyao 1 , LI Jiawei 1,2 , ZHANG Zhiyuan 1,2 , YANG Baoyun 1 , WANG Jixiang 1

( 1 Key Laboratory of Optical Calibration and Characterization, Anhui Institute of Optics and Fine Mechanics, HFIPS, Chinese Academy of Sciences, Hefei 230031, China; 2 University of Science and Technology of China, Hefei 230026, China )

Received:2021-03-01 Revised:2021-03-22 Published:2022-09-28 Online:2022-09-28

摘要/Abstract

摘要： 高精度双向反射分布函数 (BRDF) 绝对测量装置可用于星上定标漫反射板等漫反射参照体 BRDF 的绝对测量, 其转角的不确定度是整个装置不确定度的主要来源之一。通过对各部件几何位置的标校降低 BRDF 绝对测量装置转角的不确定度, 可有效降低 BRDF 绝对测量的不确定度, 具有重要的意义。根据 BRDF 绝对测量装置的特点, 以串联式六轴机器人为测量工具, 以固定于中空分度盘的积分球光源出射的光束作为指示, 开发了一整套 BRDF 绝对测量装置各部件几何位置的标校方法, 最后基于镜反射实验验证了转角的精度优于 0.05 ◦ , 满足应用需求。该方法不仅测量精度高, 而且大大简化了装调过程, 实现了无接触式标校, 为类似装置的标校提供了参考。

关键词: 几何光学, 转角不确定度, 六轴机器人, 双向反射分布函数, 标校

Abstract: The absolute measurement device of high-precision bidirectional reﬂectance distribution function (BRDF) can be used to measure the BRDF of the diﬀuse reﬂectance reference body such as the calibration diﬀuse reﬂector on the satellite. The uncertainty of the rotation angle is one of the main uncertainties of the entire device. By calibrating the geometric position of each component, the angle of the measurement device can be better measured, which can eﬀectively reduce the uncertainty of the absolute measurement of BRDF. In this work, a geometric position calibration method of each component for the absolute measurement device based on its characteristics is developed, where the tandem six-axis robot is used as the measuring tool and the light beam emitted from the integrating sphere light source ﬁxed on the hollow index plate is used as an indicator. The mirror reﬂection experiment shows that the accuracy of the rotation angle is better than 0.05 ◦ , which meets the application requirements. It is shown that the calibration method not only has high measurement accuracy, but also greatly simpliﬁes the assembly and adjustment process, and realizes non-contact calibration, which provides a reference for the calibration of similar devices.

Key words: geometric optics, uncertainty of rotation angle, six-axis robot, bidirectional re?ectance distribution function, calibration

中图分类号:

TH744

斯鹏飞, 张黎明∗, 黄文薪, 陈洪耀, 李佳伟, 张志远, 杨宝云, 王戟翔. 基于六轴机器人的 BRDF 绝对测量装置标校方法研究[J]. 量子电子学报, 2022, 39(5): 707-719.

SI Pengfei , , ZHANG Liming ∗ , HUANG Wenxin , CHEN Hongyao , LI Jiawei , , ZHANG Zhiyuan , , YANG Baoyun , WANG Jixiang . Calibration method of BRDF absolute measurement device based on six axis robot[J]. Chinese Journal of Quantum Electronics, 2022, 39(5): 707-719.

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基于六轴机器人的 BRDF 绝对测量装置标校方法研究

Calibration method of BRDF absolute measurement device based on six axis robot

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