中文摘要：

根据大功率碟式聚光器镜面单元结构特点及在线安装过程中对镜面单元位姿快速检测、高效调节和精确定位的需要,提出了一种基于三目视觉测量和机器人辅助安装的镜面单元位姿调节方法.建立了任一镜面单元角点空间坐标方程,设计了镜面单元位姿调节系统结构,并明确了相应调节方法与步骤.以38 k W碟式聚光器为例,对镜面单元不同位姿进行了光学计算,分析了视觉测误差和镜面单元制造误差等因素对镜面单元位姿调节的影响.结果表明,基于视觉测量的调节方法,在不考虑其他误差情况时,当视觉测量误差和镜面单元制造误差的综合误差控制在±2 mm内,能满足镜面单元位姿调节精度要求.

英文摘要：

According to the structural characteristics of high- power dish concentrator mirror unit, and online installation process which need the mirror unit rapidly detection , effectively positioning. A mirror unit posture adjustment method was proposed which based measurement and auxiliary regulation and accurately on a trinocular vision installation machine robots. Corner space coordinate equation of any mirror unit was established and mirror unit posture control system structure was designed, at the same time, the corresponding adjustment methods and steps were determined. Taken the 38 kW dish system as an example, the position different mirror unit was calculated and the influence of the measurement error and manufacturing error was analyzed on the mirror unit . The result shows that the adjustment method which based on visual measurement, when do not consider the other error and the visual measurement error and manufacturing error Controlled within ±2 mm, can fit the adjustment precision requirements, of the mirror unit.