机器人激光扫描系统现场标定技术

针对机器人激光 扫描系统现场标定问题,提出了一种基于交比不变性的线结构光传感器标定方法,允许平 面参 照物在传感器测量空间中自由移动,通过摄像机拍摄多幅平面参照物的图像即可对光平面进 行标定；同时, 提出一种定点变位姿的机器人手眼关系标定方法,采用一个直径已知的标准球作为手眼标定 参照物,控制 机器人分别以纯平移运动和变姿态运动的方式带动视觉传感器对标准球的球心坐标进行测量 ,根据固定点 约束标定手眼关系。实验结果表明,本文标定方法有效、快速,可以用于机器人激光扫 描系统现场标定。

Calibration technology for robotic laser scanning system

In order to calibrate the robotic lase r scanning system in the industrial field,this paper proposes a line structured l aser sensor calibration method based on the principle of cross-ratio invariance.The structural parameters of the laser plane in the sensor coordination system are calibrated by taking several photos of a planar target a t different positions in the working range of the laser sensor,and the planar target is allowed to move freely.Then a robot hand-eye calibration method by measuring a fixed point from different robot poses is advanced.In thi s method,a reference sphere with known diameter is adopted as the calibration target and the robot drives the las er sensor to measure the center of the reference sphere from different poses.Translational and orientational motio ns of the robot are performed successively in the hand-eye calibration process and the hand-eye relationship is calibrated based on the fixed-point constraint.Calibration results show that the calibration method pr oposed in this paper is efficient,fast and well suited to the calibration work of robotic 3D shape scanning system in t he industrial field.