Large-component three-dimensional measurement method based on line structured light and industrial robot

Abstract

The invention discloses a large-component three-dimensional measurement method based on line structured light and an industrial robot, and the method consists of two parts: three-dimensional data acquisition of single measurement and three-dimensional data splicing between multiple measurements. According to the invention, the line structured light three-dimensional measurement technology and therobot hand-eye calibration technology are combined, the line structured light three-dimensional measurement system is used for obtaining three-dimensional data of single measurement, and robot hand-eye calibration realizes three-dimensional data splicing among multiple measurements. According to the method for calibrating the monocular line structured light plane under the assistance of the binocular camera, the line calibration process is simplified, and the line reconstruction precision is improved; a spatial circle fitting method is adopted to fit the sphere center coordinates of the standard sphere, so that the light plane can be any plane equation, the application range of the standard sphere hand-eye calibration method is expanded, and the measurement method can accurately reconstruct a target three-dimensional point cloud model.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a three-dimensional measurement method for large components based on line structured light and industrial robots. Background technique [0002] In large-scale three-dimensional shape measurement, the visual method has become one of the most important measurement methods due to its advantages of non-contact, high speed, high precision, and easy automation. In actual measurement, due to the limited field of view of the visual sensor or the mutual occlusion of the measured surfaces, there will be visual blind spots, and it is impossible to obtain all the information of the object surface at one time. Therefore, it is necessary to divide the large measured shape into multiple small areas, perform block unit measurement from different angles, and then use splicing technology to stitch together all the unit measurement results to construct the overall three-dimensional shape ...

AI Technical Summary

Problems solved by technology

At present, laser trackers and industrial robots are often used for 3D stitching, which makes the absolute positioning accuracy of any point in space high, but the additional laser tracker is expensive

(2) Through the turntable method of accurately measuring the rotation angle, the splicing method of this turntable method is relatively simple and can only measure specific objects

(3) The frame positioning stitching method that calibrates the positional relationship between multiple cameras in advance, the stitching method calibration process is complicated, and can only be applied to the measurement of specific scenes

(4) The splicing method through the optical positioning and tracking of the splicing target. Due to the introduction of the splicing camera, the splicing error is not easy to control.

(5) The multi-view label positioning splicing method of pasting marker points on the surface of the measured object. This splicing method is simple and practical, and is currently the most widely used three-dimensional splicing method in actual engineering. However, it is time-consuming because of the need to paste mark points on the surface of the object. Laborious, can not completely achieve non-contact measurement

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