基于精密零件机器人视觉测量系统的目标自动对准方法研究

Research on Target Automatic Alignment Method Based on Precision Parts Robot Vision Measurement System

线结构光传感器与被测特征圆孔处于最佳工作距离及最适姿态时,才能实现较高精度的孔心空间三维坐标测量,现阶段在不增加辅助设备,仅依靠传感器本身,没有有效办法实现线结构光传感器最佳测量位置及姿态的调整,所以本文提出一种基于圆孔边缘图像清晰度的自动姿态对正方法。在传感器姿态对正被测特征孔后,台阶面上两孔孔心距的测量误差<0.1mm,验证了本文方法的有效性。

When the linear structured light sensor and the measured feature circular hole are at the optimal working distance and posture,it is possible to achieve high-precision three-dimensional coordinate measurement of the hole center space.At this stage,without adding auxiliary equipment,only relying on the sensor itself,there is no effective way to achieve the optimal measurement position and posture adjustment of the linear structured light sensor.Therefore,this paper proposes an automatic posture alignment method based on the sharpness of the circular hole edge image.After the sensor attitude is aligned to the measured feature hole,the measurement error of the center distance between the two holes on the step surface is less than 0.1 mm,which verifies the effectiveness of the method in this paper.