Portable laser scanning measuring arm hand-eye calibration method based on RANSAC

Abstract

The invention provides a novel hand-eye calibration method combining an existing hand-eye calibration method and a random sample consensus (RANSAC) algorithm. The problem of screening of calibration data can be effectively solved, and meanwhile the accuracy and robustness of the hand-eye calibration algorithm are improved. The novel hand-eye calibration method comprises the following steps of setting data screening rules; comprehensively considering the two factors of the included angle between relative movement rotation axes of a joint arm tail end, and the rotary angle difference of relative movement of a measuring arm and a scanning measuring head; carrying out threshold self-adaption pre-screening on calibration data through the RANSAC algorithm; and estimating the screened calibration data through the existing hand-eye calibration method. The solution accuracy of a rotation matrix in a hand-eye calibration equation can be improved by increasing the included angle (kAij, kAjk) between two-time relative movement rotation axes of a robot arm tail end executor and increasing the rotary angle error delta theta of relative movement of the robot arm tail end executor and a camera coordinate system.

Description

technical field [0001] The invention relates to the field of robot hand-eye calibration, in particular to the field of data screening of hand-eye relationship of an articulated arm type three-coordinate measuring machine. Background technique [0002] In recent years, large-scale aircraft, ships, locomotives and other modern large-scale equipment manufacturing fields have more and more demands for large-scale on-site fast, high-efficiency, and high-precision measurement technology. Therefore, portable, fast, and high-precision measurement has become a precision measurement technology. important direction of development. With the advantages of high measurement accuracy, convenient operation and simple structure, the portable measuring arm has the incomparable flexibility of the traditional coordinate measuring machine. Installing the laser scanning probe at the end of the portable measuring arm can extend its application range to the machine field of visual measurement. At ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a new hand-eye calibration method combining the existing hand-eye calibration method and random sampling consensus algorithm (RANSAC, Random Sample Consensus), which can effectively solve the screening problem of calibration data and improve the hand-eye calibration algorithm simultaneously. accuracy and robustness

Images