Linear structure light fitting plane-based robot repeated positioning accuracy measurement method

Abstract

The invention relates to a linear structure light fitting plane-based robot repeated positioning accuracy measurement method. The method comprises the steps of irradiating an upper surface of a planarcooperation target with two rays of horizontal linear structure light, and extracting image coordinate; converting linear structure light image coordinate to camera system coordinate according to a geometrical relation between a camera coordinate system and an image coordinate system, performing planar fitting, and determining a position of the upper surface of the cooperation target under the camera coordinate system; calculating a normal of the fitting plane, setting the normal as a z axis of a model coordinate system, and setting a linear structure light direction of the fitting plane as an x axis of the model coordinate system, wherein the z axis is crossed with the x axis to from a y axis of the model coordinate system; forming a cross light region on the upper surface of the planarcooperation target, wherein a cross point is an origin point of the model coordinate system; and determining a rotation matrix and a translation vector according to a geometrical relation between thecamera coordinate system and the model coordinate system. By the method, on-line, real-time, automatic and non-contact measurement of robot repeated positioning accuracy can be achieved, and the method is rapid in measurement speed and good in system flexibility.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a robot repeat positioning accuracy measurement method based on line structured light fitting plane. Background technique [0002] With the rapid development of my country's national economy, automated production has become the future development trend and direction. Using robots instead of manual to realize automatic loading and unloading not only saves production costs, but also improves production efficiency and safety factor, reduces labor intensity of workers, and becomes an ideal choice for more and more enterprises. [0003] In order to realize the automatic loading and unloading of the robot, it is required to have a high repeat positioning accuracy. The structured light measurement method has the characteristics of strong real-time performance and simple equipment, which has attracted more and more attention. For applications that require strict convenience su...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the serious noise pollution in the production environment and the influence of the robot's own uncertainty on the measurement accuracy, the present invention provides a method with fast measurement speed, strong robustness, and real-time measurement of the repetitive positioning accuracy of the robot.

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