基于手眼系统的喷涂机标定方法  

Calibration Method of Spray Machine Based on Hand-Eye System

作　　者：文贞慧 郝友胜 白鑫 朱蔚健 冯小溪 WEN Zhenhui;HAO Yousheng;BAI Xin;ZHU Weijian;FENG Xiaoxi(School of Electrical Engineering,Guangxi University,Nanning,Guangxi 530000,China)

机构地区：[1]广西大学电气工程学院,广西南宁530000

出　　处：《自动化应用》2024年第18期1-3,共3页Automation Application

基　　金：广西壮族自治区大学生创新创业计划项目(S202210593274)。

摘　　要：为了实现对车辆漆面缺陷位置的定位与标定,适应喷涂的视觉引导和控制,提出了一种结合双目视觉和手眼系统的标定方法。首先,采用YOLOv5s算法检测车辆漆面缺陷;然后,对缺陷位置进行深度估计与坐标变换,实现缺陷位置的定位;最后,采用手眼标定方法获得相机坐标系和喷头坐标系之间的坐标关系。结果表明,基于手眼系统的车用喷涂机标定方法具有很高的可行性。In order to realize the location and calibration of vehicle paint defects and adapt to the visual guidance and control of spraying,a calibration method combining binocular vision and hand-eye system is proposed.Firstly,YOLOv5s algorithm was used to detect vehicle paint defects.Then,the depth estimation and coordinate transformation of the defect position were performed to realize the localization of the defect position.Finally,the hand-eye calibration method was used to obtain the coordinate relationship between the camera coordinate system and the spray head coordinate system.The results show that the calibration method of vehicle spraying machine based on hand-eye system has high feasibility.

关 键 词：手眼系统 双目视觉 相机标定 缺陷定位 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]