基于平面靶标的线结构光视觉传感器机器人手眼标定方法  

Hand-Eye Calibration Method of Line Structured Light Vision Sensor Robot Based on Planar Target

作　　者：吴庆华[1,2] 邱捷锋 黎志昂 刘嘉程 王彪 Wu Qinghua;Qiu Jiefeng;Li Zhiang;Liu Jiacheng;Wang Biao(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,Hubei,China;Hubei Provincial Key Laboratory of Modern Manufacturing Quality Engineering,Wuhan 430068,Hubei,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]湖北省现代制造质量工程重点实验室,湖北武汉430068

出　　处：《激光与光电子学进展》2023年第10期332-339,共8页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(51275158)。

摘　　要：为确定线结构光视觉传感器与工业机器人法兰中心的位姿关系,设计了一种只有单个圆的平面靶标及标定方法。调整机器人姿态,使激光线经过平面靶标上实心圆的圆心,通过图像处理,得到圆心的像素坐标,转换后得到圆心在传感器坐标系下的坐标;多次调整姿态,获取多组图像,得到多组传感器坐标系下圆心坐标;结合对应机器人位姿关系,采用最小二乘法直接解算出手眼矩阵。实验结果表明,所提方法与采用标准球为靶标的手眼标定方法对比,反求得到的三维坐标的标准差由0.3893 mm降为0.2145 mm,以同一目标的不同间距为测量对象,均方根误差均有效减小。该方法提高了标定精度,不需要采用昂贵的靶标,适合于现场标定。To determine the pose relationship between a linear structured light vision sensor and the flange center of an industrial robot,a planar target with only a single circle and its calibration method are designed.The robot’s attitude is adjusted such that the laser line passes through the center of the solid circle on the plane target.Through image processing,the pixel coordinates of the center are obtained.After conversion,the coordinates of the center in the sensor coordinate system are obtained.The attitude is adjusted many times,yielding multiple sets of images and the center coordinates of multiple groups of sensors in the sensor coordinate system.The handeye matrix is directly solved using the leastsquares method based on the corresponding robot pose relationship.The experimental results show that the standard deviation of the threedimensional coordinates obtained by the proposed method is reduced from 0.3893 mm to 0.2145 mm compared with the handeye calibration method using the standard ball as the target,and the root mean square error is effectively reduced with different distances of the same target as the measurement object.This method improves calibration accuracy,does not require expensive targets,and is suitable for field calibration.

关 键 词：机器视觉 线激光 平面靶标 手眼标定 机器人标定 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]