线结构光视觉传感器测圆(类圆)孔中心两步法

Two-step Method for Measuring Center Coordinates of Spatial Hole Based on the Structured Light Stripe Vision Sensor

针对基于工业机器人平台柔性三维视觉检测系统,提出线结构光视觉传感器测量空间圆(类圆)孔中心两步法。根据线结构光视觉传感器测量模型,确定被测圆心近似z向坐标。根据圆心相对摄像机光心的方位,确定被测圆心的x、y向坐标。该方法突破了传统空间圆(类圆)孔中心测量仅能采用双目视觉传感器的方式。研究结果表明,该方法切实可行,可以满足实际测量需求,能够极大地扩展线结构光视觉传感器的应用范围。

Creation of the two-step method for inspecting the spatial hole center coordinates with structured light stripe vision sensor is proposed for three-dimensional visual inspection system based on the industrial robot. According to the mathematical model of structured light stripe vision sensor, coordinate z of hole center is solved. Coordinates x, y are acquired by the hole center orientation relative to the camera optic center. The new approach is different from the traditional spatial hole inspection method with stereovision sensor. The research result shows that the two-step method is feasible and greatly expands the application range of the structured light stripe visual inspection system.