非特制靶标的结构光视觉自动标定系统  

Structured Light Vision Automatic Calibration System for Non-Special Targets

作　　者：杨宏韬[1] 苏航 李秀兰[1] 于微波[1] 熊凤銮 李鑫 YANG Hong-tao;SU Hang;LI Xiu-lan;YU Wei-bo;XIONG Feng-luan;LI Xin(School of Electrical and Electronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学电气与电子工程学院,长春130012

出　　处：《组合机床与自动化加工技术》2023年第1期138-141,146,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：吉林省科技发展计划项目(20200401118GX);吉林省教育厅科学技术研究项目(JJKH20210744KJ)。

摘　　要：为解决现有结构光视觉装置的标定方法需要高精度特制靶标且标定过程复杂的问题,实现标定过程的流程化,提出了一种基于非特制靶标的结构光视觉自动标定方法,并构建了相应的自动标定系统。该系统控制机器人带动结构光视觉装置做两组运动对非特制靶标拍照,第一组运动通过8次平移和3次末端姿态改变运动,利用靶标平面的特征点信息并结合机器人的姿态信息获取相机参数和手眼参数,第二组运动通过5次平移,利用相机外参数和机器人的位移信息求解出光平面方程。采用具有清晰图像信息的卡片式物体作为靶标,利用所提出的方法完成线结构光平面标定,精度验证实验结果表明,系统对靶标的选择有较强的适应性,在测量30 mm、50 mm和60 mm标准块时,平均绝对误差均值为0.049 6 mm,相对误差均值为0.11%,标定精度能够满足毫米级的测量要求,能适应如焊缝跟踪、物体测量等工业现场对结构光视觉装置的要求。In order to solve the problem that the calibration method of the existing structured light vision device requires high-precision special targets and the calibration process is complex, and realize the process of calibration process, a structured light vision automatic calibration method based on non-special targets is proposed, and the corresponding automatic calibration system is constructed.The system controls the robot to drive the structured light vision device to do two sets of movements to take pictures of non-special targets, the first set of motion through 8 translations and 3 end attitude changes movement, the use of target plane feature point information and combined with the robot’s attitude information to obtain camera parameters and hand-eye parameters, the second set of motion through 5 times of translation, the use of external parameters of the camera and the displacement information of the robot to solve the optical plane equation.The card-type object with clear image information is used as the target to complete the linear structure optical plane calibration, and the accuracy verification experimental results show that when measuring the 30 mm, 50 mm and 60 mm standard blocks, the average measurement accuracy is 0.049 6 mm, and the relative error is 0.11%.

关 键 词：相机标定 手眼标定 光平面标定 坐标转换 特征点匹配 

分 类 号：TH16[机械工程—机械制造及自动化] TG502[金属学及工艺—金属切削加工及机床]