A hand-eye calibration system and calibration method for line structured light sensor

Abstract

The invention discloses a hand-eye calibration system and a calibration method for a line structured light sensor, and relates to the technical field of visual calibration. The device of the invention includes a robot, a line structured light sensor, an end tool and a tapered target. The method of the present invention includes the following steps: S1, the mobile robot aligns the tip of the end tool with the cone tip of the tapered target, and records the spatial coordinates of the tip of the end tool; S2, the mobile robot measures and records the measurement cone of the line structured light sensor The coordinates of the tip position, record the spatial coordinates of the tip of the end tool when the cone tip is located on the light plane of the line structured light; S3, move the robot, repeat step S2, and collect at least 4 sets of calibration point coordinates within the measurement range of the line structured light sensor data; S4. Using multiple sets of calibration point coordinate data, establish a least squares equation constrained by the calibration point coordinates, and calculate the hand-eye calibration transformation matrix. The calibration system of the invention is simple and easy to obtain, and the method of the invention has high precision and high efficiency.

Description

technical field [0001] The invention relates to the technical field of vision calibration, in particular to a hand-eye calibration system and calibration method for a line structured light sensor. Background technique [0002] In recent years, with the application and development of automation technology, 3D sensors are more and more widely used in automated manufacturing. Line structured light sensor (such as laser profiler, seam tracking sensor, laser scanner) as a 3D vision sensor can be used to measure the contour shape, size, coordinate position, etc. of objects. Therefore, as the eyes of the robot, the line structured light sensor is often installed at the end of the robot or at a fixed position relative to the robot base on the production line to form an intelligent manufacturing robot system. Like other machine vision systems, to achieve coordinate transformation between the line structured light sensor and the robot, hand-eye calibration is required to convert the ...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that it is difficult to control the line structured light to accurately scan to the same fixed point

However, this kind of method still has the problem of low fixed-point positioning accuracy, and the tip of the end tool is difficult to align with the fixed point, and the calibration process is time-consuming and labor-intensive.

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