Calibration method for relative position of linear laser three-dimensional measurement sensor and robot

Abstract

The invention provides a calibration method for the relative position of a linear laser three-dimensional measurement sensor and a robot. According to the method, a line laser three-dimensional measurement sensor scans different positions of a standard plane to obtain three-dimensional point cloud data, a linear equation is fitted to calculate a direction vector of a straight line, and an optimization problem under plane constraint is constructed to calculate a relative position relationship between the line laser three-dimensional measurement sensor and a robot. The calibration operation is simple, and the precision is high, thereby achieving the quick and high-precision calibration of the line laser three-dimensional measurement sensor.

Description

technical field [0001] The invention relates to a position calibration method, in particular to a calibration method for the relative position of a line laser three-dimensional measurement sensor and a robot. Background technique [0002] The line laser three-dimensional measurement sensor is a three-dimensional point cloud measurement sensor using triangulation. It has the advantages of high measurement accuracy, fast speed, and non-contact measurement. It is widely used in three-dimensional measurement, reverse engineering, robot processing and other fields. Since the line laser three-dimensional measurement sensor can only obtain the three-dimensional point cloud coordinates on one laser, in order to realize the overall measurement, it is necessary to use other high-precision measurement platforms to form a measurement system for the overall measurement of the object. The multi-axis industrial robot has the advantages of high position accuracy and simple operation, making...

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Problems solved by technology

Among them, the fixed point (standard ball center) pose change method requires the line laser three-dimensional measurement sensor to accurately scan the surface of the standard ball each time, and determine the position of the center coordinates in the measurement coordinate system. For line laser three-dimensional measurement with a small measurement range Measuring the sensor, it is difficult for the robot to achieve multiple pose measurement standard ball center coordinates under the condition of large difference in attitude, which makes the calibration operation of the sensor position with a small measurement range difficult and the calibration accuracy is low (the error is about 1.5mm); the calibration board The position and attitude method requires that the line laser 3D measurement sensor allows users to collect 2D images, and the 3D point cloud coordinate system of the sensor coincides with the coordinate system of the camera, so that the position calibration of the sensor can be accurately realized. This method has limited use scenarios and cannot solve the problem of sensor The position calibration problem of the 3D point cloud coordinate system and the camera coordinate system do not coincide

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