A line structured light visual measurement system based on Cartesian-coordinate robot was proposed for three-dimensional digital measurement of hull block. By controlling robot motion, line structured light visual sensor installed on the robot terminal captured images of stable planar target and the pose transformation parameters between camera coordinate system and robot coordinate system were calibrated. At the same time the feature point coordinates on the planar target were achieved with cross ratio invariability theory, then structured light parameters was calibrated. By measuring experiments of known standard parts, the easily realized method is proved efficient and can meet the precision requirements of digital measurement system for hull block.%针对船体分段数字化测量提出了一种基于直角坐标机器人的线结构光视觉测量系统.通过控制机器人的运动,安装在其末端的线结构光视觉传感器对固定的平面靶标成像,实现了摄像机坐标系与机器人坐标系位姿关系标定;同时利用交比不变性原理获取平面靶标上的特征点坐标,完成了结构光平面参数的标定.该方法易于实现,通过对已知的标准工件进行测量实验,证明提出的标定方法是有效的,能够满足船体分段数字化测量的精度要求.
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