On-line Calibration Technique of Robot Flexible Visual Inspection System

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.