基于线结构光视觉传感器的圆孔定位误差分析  

Analysis on round-hole orientation error based on structured light stripe vision sensor

作　　者：薛婷[1] 吴斌[2] 张涛[1] 叶声华[2] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072 [2]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《光学精密工程》2008年第4期624-629,共6页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.50705065);天津市自然科学基金重点资助项目(No.08JCYBJC10000)

摘　　要：针对空间圆(类圆)孔的几何量测量,传统视觉测量方法一般采用双目立体模型,基于立体像对来实现对圆孔空间位置的测量。受传感器成本、体积、重量的限制,该测量方法在特殊视觉系统,尤其在发展迅速的基于工业机器人平台的柔性视觉检测系统中均显不足。本文基于单摄像机架构的线结构光视觉传感器,提出了圆(类圆)孔定位两步法,讨论和分析了被测圆心x,y,z向坐标测量误差。通过对被测圆心定位误差的分析计算,在实际测量应用中,z向测量精度可以优于±0.25 mm,x,y向测量精度优于±0.006 mm。研究结果表明,该方法切实可行,可以满足实际测量需求,扩展了线结构光视觉传感器的应用范围。A binocular stereo vision measurement model was used to inspect the space position of round hole or similar round hole based on the stereo image-pair, for the stereo vision sensor does not meet the requirement for some particular visual inspecting system, especially for the flexible visual inspecting system based on the industrial robot platform. In this paper, a two-step method to inspect the hole center coordinates was presented, and the x, y, z coordinate orientation errors were analyzed in detail based on the structured light stripe vision sensor composed of one camera. According to the error analysis, the z coordinate measurement precision is higher than ±0.25 mm, x and y coordinate meas- urement precisions higher than ±0.006 mm, respectively. The measured results show that the method is valid by experiment and it greatly expands the actual appliance of the structured light stripe visual inspection system.

关 键 词：线结构光视觉传感器 圆(类圆)孔 定位 误差分析 

分 类 号：TP212.14[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]