Calibration method and device for line structured light seam tracking sensor
A line-structured light and calibration method technology, which is applied in the direction of instruments, can solve the problems of calibration failure, sensor recognition corner position failure, uneven illumination, etc., and achieve the effects of avoiding calibration failure, strong anti-interference ability and high precision
Active Publication Date: 2021-01-26
TSINGHUA UNIV
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[0004] An embodiment of the present invention provides a calibration method for a line-structured light seam tracking sensor, which is used to solve the problem of calibration failure caused by the failure of the sensor to identify the corner position due to uneven illumination of the conventional checkerboard target calibration. The method includes:
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[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.
[0024] In order to solve the problem of conventional checkerboard target calibration due to the failure of the sensor to identify the corner position due to uneven illumination, the embodiment of the present invention provides a calibration method for the line-structured light seam tracking sensor, such as figure 1 As shown, the method may include:
[0025] Step 1. Obtain multiple sets of image measurement values measured by the robot at the same measurement point at different positions;
[0026] Step 2. Calculating the position of the measurement point according t...
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The invention discloses a calibration method and device for a line-structured light seam tracking sensor, wherein the method includes: step 1, obtaining multiple sets of image measurement values measured by a robot at different positions on the same measurement point; step 2, respectively according to multiple Group image measurement values and sensor parameters to calculate the measurement point position; Step 3, determine the measurement error between the multi-group calculation values of the measurement point position relative to the real value; Step 4, evaluate the measurement error, and obtain the measurement error evaluation value; Step 5. If the measurement error evaluation value is not greater than the limit value, then end the calibration; if the measurement error evaluation value is greater than the limit value and the number of iterations is not less than the threshold, the calibration fails; if the measurement error evaluation value is greater than the limit value and the number of iterations is less than the threshold value, Then use the measurement error to correct the sensor parameters, and re-execute from step 2 with the corrected sensor parameters. It can solve the problem that the conventional checkerboard target calibration fails due to the failure of the sensor to identify the corner position due to uneven illumination.
Description
technical field [0001] The invention relates to the technical field of welding detection, in particular to a calibration method and device for a line-structured light seam tracking sensor. Background technique [0002] This section is intended to provide a background or context to embodiments of the invention that are recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] At present, for the calibration of the line structured light seam tracking sensor, the conventional solution is to use a checkerboard target for calibration. However, in the calibration process, the sensor may fail to recognize the corner position due to uneven illumination, resulting in calibration failure. Contents of the invention [0004] An embodiment of the present invention provides a calibration method for a line-structured light seam tracking sensor, which is used to solve the problem of calibration failure caused by the failure of ...
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IPC IPC(8): G01D18/00
Inventor 郑军
Owner TSINGHUA UNIV