A Robot Vision Measuring System Based on External Tracking and Its Calibration Method

Abstract

The invention belongs to the field of robot vision measurement, and discloses a robot vision measurement system based on external tracking and a calibration method thereof. The visual measurement system includes an external tracking device, a three-dimensional cage target, an area scanner, an industrial robot and a calibration device, the area scanner is arranged at the end of the industrial robot, and the three-dimensional cage target is arranged on the area scanner. The present invention also discloses a calibration method for the above-mentioned measurement system. By using an external tracking device and an area scanner to scan the three-dimensional spherical cage target and the calibration device respectively, two groups of data in the state of constant posture and position change and pose transformation are collected. The target data, and then establish the conversion relationship between the mutual coordinate systems, and finally use the two sets of data to calculate the conversion matrix between the area scanner coordinate system and the three-dimensional spherical cage target coordinate system. Through the present invention, different solution results may be caused by processing the same data by different people or at different times, and the stability and consistency of the calibration solution are realized.

Description

technical field [0001] The invention belongs to the field of robot vision measurement, and more particularly relates to a robot vision measurement system based on external tracking and a calibration method thereof. Background technique [0002] The measurement of large parts is widely used in digital measurement, digital processing, and digital assembly in the field of industrial manufacturing. It is one of the technical directions to realize the automation and intelligence of industrial manufacturing. [0003] The measurement of existing large parts is divided into contact and non-contact. Contact measurement includes CMM and binocular CMM; non-contact measurement mainly includes photogrammetry, area array scanner or line laser scanner measurement scheme based on marker point splicing. Contact measurement generally has high accuracy, but it belongs to point measurement, with low data acquisition efficiency and small amount of data acquisition. After arranging the marking ...

AI Technical Summary

Problems solved by technology

Contact measurement generally has high precision, but it belongs to point measurement, the data acquisition efficiency is low, and the amount of data acquisition is small

After arranging marker points, the photogrammetry system can realize batch acquisition of measuring points, and the efficiency and quantity of data acquisition have been improved to a certain extent, but most of them can only be used for the measurement of key dimensions; area array scanners or line lasers based on marker point splicing The scanner measurement solution can achieve high-efficiency and large-scale acquisition of point clouds, but the layout and cleaning of marker points is time-consuming and laborious

The above-mentioned measurement scheme that needs to arrange marker points is greatly restricted in the working conditions where marker points cannot be used or are inconvenient to arrange

Images