关键词: 单粒子效应, 视觉引导, 特征匹配, 最小二乘法, 手眼标定

Abstract: To improve the working efficiency of the existing particles irradiation platform,an automation irradiation experiment platform was designed based on the robot and visual guidance.The irradiation position parameters could be set in real time and transferred automatically by combining the experiment platform with vision system.By analyzing the distribution of feature points and the principle of saliency object detection,a feature matching method based on the differences of regional distribution was proposed to transfer irradiation position parameters correctly.In addition,the least square method was employed to calculate the initial hand-eye relationship.The weight was assigned to each measurement data according to its corresponding calibration error for modifying the hand-eye relationship.The experimental results showed that the target could be identified accurately by vision system and the irradiation error could be controlled in reasonable range,which confirmed the effectiveness of the proposed method.Simultaneously,the whole irradiation process could be completed in less than two minutes,which significantly improved the test efficiency.

Key words: single event effects, visual guidance, feature matching, least square method, hand-eye calibration