基于线性激光三角法的圆柱对象定位测量研究

为了实现圆柱对象定位点在竖直高度与水平横向两方向位置坐标的一次性准确测量,采用线性激光三角法建立了线性激光三角法定位测量模型,并进行了理论分析,同时依据此方法设计了一套定位测量实验系统.使用工业相机采集被圆柱对象曲面反射的线性激光光斑图像,选用blob算法根据图像中激光光斑几何特性提取光斑顶点像素坐标,结合系统标定参量计算了圆柱对象定位点位置坐标.结果表明,该测量方法在竖直高度与水平横向两方向的最大相对测量误差分别为0.14%与0.89%.该研究成果可用于工业生产中机械手对不同尺寸圆柱对象的抓取定位测量.

Research of locating measurement of cylindrical objects based on linear laser triangulation

In order to realize one-time accurate measurement of position coordinates of cylindrical object locating points in vertical height direction and horizontal and transverse direction, the linear laser triangulation method was used. Linear laser triangulation positioning measurement model was established. The theoretical analysis was carried out. Based on this method, a set of positioning measurement experimental system was designed. Linear laser spot images reflected by a cylindrical surface were captured by an industrial camera. Blob algorithm was used to extract the vertex pixel coordinates of the laser spot according to the geometrical characteristics of the image. The position coordinates of the cylindrical object positioning points were calculated by combining with the system calibration parameters. The results show that the maximum relative measurement errors in vertical and horizontal directions are 0.14% and 0.89%, respectively. The research results can be used to grasp and locate cylindrical objects in different sizes by manipulators in industrial production.