作者：陆艺¹, 沈添秀¹, 郭小娟¹, 郭斌²

作者单位：1. 中国计量大学计量测试工程学院, 浙江 杭州 310018;
2. 杭州沃镭智能科技股份有限公司, 浙江 杭州 310018

关键词：手眼关系;线结构光传感器;标定;工业机器人

摘要：

为实现对工业机器人手眼关系的标定，提出一种基于线结构光视觉传感器的手眼关系标定方法。该方法在标定时，将一个平面靶标作为参考物固定在工业机器人工作空间内，控制工业机器人末端运动以带动线结构光视觉传感器作多组变位姿运动，获取在不同位姿状态下的平面靶标图像并对其进行图像处理。通过对图像上固定特征点的测量，以及建立线结构光视觉传感器模型和手眼关系模型实现对线结构光内参数和手眼关系的标定。用棋盘格标定板进行测量实验验证，实验结果表明该方法准确度为0.036 mm，即优于40 μm，可用于工业机器人的测量应用。

Robot hand-eye relationship calibration based on line structured light vision sensor
LU Yi¹, SHEN Tianxiu¹, GUO Xiaojuan¹, GUO Bin²
1. College of Metrology & Measurement Engineering, China Jiliang University, Hangzhou 310018, China;
2. Hangzhou Wolei Intelligent Technology Co., Ltd., Hangzhou 310018, China
Abstract: In order to realize the calibration of the hand-eye relationship of industrial robots, a hand-eye relationship calibration method based on line structured light vision sensor was proposed.At the calibration time, a planar target is fixed in the robot working space as a reference object, and the end of the industrial robot is controlled to drive the line structured light vision sensor to perform multiple sets of displacement posture motion, and the target image in different pose states is obtained and image processed.By measuring the fixed points on the image, and establishing the line structure light vision sensor model and the hand-eye relationship model, the internal parameters of the line structured light and the hand-eye relationship are calibrated.The measurement experiment is verified by the checkerboard. The experimental results show that the accuracy of the method is 0.036 mm, which is better than 40 μm, it can be used for the measurement of industrial robots.
Keywords: hand-eye relationship;line structure light vision sensor;calibration;industrial robots
2019, 45(10):6-9  收稿日期: 2018-10-30;收到修改稿日期: 2018-12-17
基金项目: 浙江省基础公益研究计划项目（LGG18E050009）；浙江省科技计划项目重大科技专项（2018C01063）
作者简介: 陆艺(1979-),男,江苏扬州市人,副教授,硕士,研究方向为精密检测技术、汽车零部件自动化测试
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