On-line Calibration Technique of Robot Flexible Visual Inspection System
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摘要: 针对江淮车身厂的轿车车身提出了一种基于工业机器人的柔性视觉检测系统．通过控制机器人在空间的位姿变换，立体视觉传感器能够依次到达空间指定测量位置采集空间特征点的图像信息，并通过计算图像数据获得该点的三维坐标数据．利用双经纬仪和精密靶标对机器人视觉测量系统进行整体标定，同时完成了测试试验数据的采集及计算，取得了较好的测量效果．该系统柔性好、测量无死角，能适应生产线多车型检测的需要．Abstract: A flexible visual inspection system based on industrial robot is designed for the car bodies of Jianghuai Au- tomobile Corporation.By controlling pose transformation of the robot in space,the stereovision sensor can arrive at the given measurement points to capture images of space feature points successively,and the 3D coordinate data are obtained by computing the image data.The whole calibration of the robotic visual inspection system is carried out with two theodolites and one precision drone.At the same time,the testing data is collected and calculated,and the measurement result is satis- factory.The system can meet the requirements of multi-model vehicle measurement with the benefits of good flexibility and measurement range without dead angle.
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Keywords:
- stereovision /
- theodolite /
- flexible measurement /
- whole calibration /
- dummy sensor
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