宽厚板板形测量系统与标定方法研究  

Research on Plate Shape Measurement System and Calibration Method of Wide and Thick Plate

作　　者：李子良 王涛[1] 张金柱 师玮 白建鑫 黄庆学 LI Ziliang;WANG Tao;ZHANG Jinzhu;SHI Wei;BAI Jianxin;HUANG Qingxue(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024;School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan 030024)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024 [2]太原科技大学电子信息工程学院,太原030024

出　　处：《机械工程学报》2022年第20期294-303,共10页Journal of Mechanical Engineering

基　　金：国家重点研发计划课题(2018YFB1308702);山西省科技重大专项(20181102016,20181102015);机器人技术与系统国家重点实验室开放基金课题(SKLRS-2020-KF-17);山西省应用基础面上青年基金(201901D211011)资助项目。

摘　　要：针对当前宽厚板板形在线智能化检测的需求,设计一种单激光器多相机的宽厚板板形测量系统,提出一种基于唯一激光平面的多相机坐标系姿态校准标定方法。板形测量系统由分别位于宽厚板矫正机前后的两个相同的子系统组成,子系统采用多相机测量视野拼接的方式,实现宽厚板板形的检测;利用相邻相机公共视野中同一姿态标定板世界坐标系的唯一性,将多个相机的坐标系映射在基准坐标系下,根据实际激光平面的唯一性将多个相机坐标系统一为同一姿态,并通过统一坐标后相邻相机点云数据的位置关系,实现多相机测量数据的快速拼接,完成多相机结构光测量系统坐标系的标定。试验结果表明,该方法准确有效,为大视场结构光三维测量提供了一种有效的测量标定方法。Aiming at the current demand for online intelligent detection of wide and thick plate shape,a wide and thick plate shape measurement system with single laser and multi-camera is designed,and a attitude calibration method of multi-camera coordinate system is proposed based on the unique laser plane.The plate shape measurement system is composed of two identical subsystems located before and after the wide and thick plate levelling machine.The subsystem adopts the method of multi-camera measurement vision splicing to realize the detection of wide and thick plate shape.First,using the uniqueness of the world coordinate system of the same attitude calibration plate in the common view of adjacent cameras,the coordinate systems of multiple cameras are mapped to the reference coordinate system.Then the multi-camera coordinate systems are set to the same posture according to the uniqueness of the laser plane.At last,fast stitching of point cloud data with multi-camera system is implemented according to position relation of adjacent cameras point cloud data which unified coordinate.The multi-camera structured light measurement system calibration has been finished.The experimental results show that the method is accurate and effective,which provides an effective calibration method for 3D measurement of large field of view structured light.

关 键 词：板形测量 结构光测量 相机标定 姿态校准 点云数据 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]