线结构光视觉系统标定新法及其振动测控应用

激光视觉是一种在工业检测领域应用广泛的测量方式，其标定是视觉检测系统搭建的基础。为此，提出了一种新型线结构光视觉系统标定方法。采用张氏标定法完成相机标定，通过提取标定板上的激光条纹特征，根据三面共线条件进行处理完成结构光平面的标定，并对标准尺寸进行测量以验证标定结果的准确性。接着基于该系统搭建了柔性臂振动测控实验台，并用其对柔性臂振动进行检测，设计了一种非线性控制器抑制柔性臂的振动。实验结果表明，提出的标定方法三维检测精度可达0.1 mm，得以应用在柔性臂的振动检测上，设计的控制器也可在短时间内抑制柔性臂的振动，以此验证了标定方法的检测效果和振动抑制的有效性。

New calibration method of line structured light vision system and application for vibration measurement and control

Laser vision is a widely used measurement method in industrial detection, and its calibration is the key in developing visual sensing systems. Thus, a new calibration method of the structured light vision system was proposed. Zhang's calibration method was introduced to accomplish camera calibration. Then, the feature of the laser stripe on the calibration board was extracted, and the calibration of the structured light plane was carried out after processing, based on the collinear condition of three planes. Meanwhile, the standard size was tested to verify the accuracy of the calibration result. Based on this system, an experimental platform for vibration measurement and control of the flexible arm was constructed. The vibration of the flexible arm was measured by this system, and a nonlinear PD controller was designed to suppress the vibration. The experimental results demonstrate that the 3D measurement precision of the proposed calibration method can reach 0.1 mm; thus, this can be successfully applied to measure the vibration of the flexible arm, and the designed controller can also suppress this vibration in a short time. Finally, the effectiveness of the calibration method and vibration suppression is verified