焊接机器人再制造中结构光传感器的标定  

Calibration approach for structured-light sensor in remanufacture based on welding robot

作　　者：殷子强[1] 张广军[1] 高洪明[1] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《焊接学报》2009年第12期57-60,共4页Transactions of The China Welding Institution

基　　金：国家863高技术研究发展计划资助项目(2002AA305402)

摘　　要：在基于焊接机器人的柔性再制造平台中,对零件破损部位的三维测量是获取再制造模型的关键步骤.文中提出了一种结构光传感器系统的快速标定方法,对柔性再制造线结构光三维扫描测量系统进行了标定.标定过程中首先采用平面靶标法标定出CCD摄像机线性模型的内外参数,然后通过靶标上的结构光条纹的像求解出光平面方程,确定结构光光平面与摄像机的位置关系.在标定出结构光测量系统的各个参数后,即可以求得零件破损部位特征点的三维坐标,从而获得破损零件的再制造模型.该方法标定过程简单,精度较高,易于实现现场标定.On the flexible remanufacture platform based on welding robot,3D ranging of the damage parts is the key step to obtain the remanufacturing data.This paper proposes a rapid calibration approach and calibrates the line structuredlight 3D ranging system in the flexible remanufacture platform of the welding robot.The calibration includes the following steps: first,calibrates internal and external parameters of the camera by a planar pattern;second,solves parameters of the light plane by the structured-light strip in the image,which determine the relationship between light plane and camera,and then calculate 3D coordinate of the feature point on the damage parts to establish remanufacture model.The approach is easy,simple and accurate.

关 键 词：焊接机器人 再制造 结构光 标定 

分 类 号：TG115.28[金属学及工艺—物理冶金]