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Hand-eye calibration method of portable laser scanning measuring arm based on ransac

A technology of laser scanning and hand-eye calibration, which is used in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of improving robustness and solution accuracy

Active Publication Date: 2019-04-05
BEIJING INFORMATION SCI & TECH UNIV
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  • Application Information

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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

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  • Hand-eye calibration method of portable laser scanning measuring arm based on ransac
  • Hand-eye calibration method of portable laser scanning measuring arm based on ransac
  • Hand-eye calibration method of portable laser scanning measuring arm based on ransac

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Embodiment Construction

[0024] The objects and functions of the present invention and methods for achieving the objects and functions will be clarified by referring to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in various forms. The essence of the description is only to help those skilled in the relevant art comprehensively understand the specific details of the present invention.

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0026] The present invention provides a hand-eye calibration method of a portable laser scanning measuring arm based on RANSAC, which effectively improves the accuracy and robustness of the calibration algorithm. The method comprises the following steps:

[0027] Step 1, set the data scree...

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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 ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08B25J19/02
CPCB25J9/1633B25J9/1692B25J13/089B25J19/022
Inventor 董明利吴晗娄小平孟晓辰樊凡刘超祝连庆
Owner BEIJING INFORMATION SCI & TECH UNIV