Reference sphere positioning and measuring method based on line-structured light vision sensor

Abstract

The invention belongs to a precision measurement method, in particular to a reference sphere positioning and measuring method based on a line-structured light vision sensor. The method meets the requirement that a same line-structured light vision sensor in a flexible measuring system has the capability of measuring various features of space round holes, knuckle lines, reference spheres and the like, and meets the requirement on positioning and measuring of the reference spheres in robot temperature compensation and correction. According to the technical scheme, the method includes the steps: under the premise of satisfying working distance and measuring field depth of the line-structured light vision sensor, fixing a reference sphere to be measured in a viewing field of the sensor, and enabling a light plane of structured light to be projected on a reference sphere surface to be intersected with the same so as to form an arc-shaped light bar; collecting an arc-shaped light bar image modulated via the reference sphere surface, and extracting the light bar; and utilizing given reference sphere radius R0 and obtained section circle radius R1 for computing a centre O0 of the reference sphere so as to achieve positioning and measuring of the reference sphere. The method is mainly applied to positioning and measuring of reference spheres.

Description

technical field [0001] The invention belongs to a precision measurement method, in particular to a reference ball positioning measurement method based on a line structured light vision sensor. Specifically, it relates to a reference ball positioning measurement method based on a line structured light vision sensor. Background technique [0002] The line structured light vision sensor is mainly composed of a line structured light projector (line laser) and a camera. It has a simple structure, small size, light weight, low cost, convenient calibration, and high measurement accuracy. It has a wide range of applications in various fields. Especially in the flexible measurement system based on industrial robots, due to the consideration of motion and space, compared with the stereo (binocular or multi-eye) vision sensor, the line structured light vision sensor shows outstanding advantages. [0003] For flexible measurement systems, each robot is usually equipped with only one l...

AI Technical Summary

Problems solved by technology

However, this condition cannot be guaranteed in general. Therefore, for the case where the intersecting section between the structured light plane and the reference sphere is not the largest circular section, there is still a lack of an effective method for positioning and measuring the reference sphere based on the line structured light vision sensor.

[0004] In addition, the flexible measurement system uses industrial robots as the motion platform. The general industrial robot has high repeatability positioning accuracy, but the absolute positioning error is relatively large.

Moreover, as the robot moves, the motors of its joints will generate a lot of heat, resulting in significant changes in parameters such as joint lengths.

Images