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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >A Calibration Method for a Laser Triangulation Scanner Mounted on a Robot Arm for Surface Mapping
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A Calibration Method for a Laser Triangulation Scanner Mounted on a Robot Arm for Surface Mapping

机译：安装在机械臂上进行表面映射的激光三角测量仪的校准方法

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摘要

This paper presents and discusses a method to calibrate a specially built laser triangulation sensor to scan and map the surface of hydraulic turbine blades and to assign 3D coordinates to a dedicated robot to repair, by welding in layers, the damage on blades eroded by cavitation pitting and/or cracks produced by cyclic loading. Due to the large nonlinearities present in a camera and laser diodes, large range distances become difficult to measure with high precision. Aiming to improve the precision and accuracy of the range measurement sensor based on laser triangulation, a calibration model is proposed that involves the parameters of the camera, lens, laser positions, and sensor position on the robot arm related to the robot base to find the best accuracy in the distance range of the application. The developed sensor is composed of a CMOS camera and two laser diodes that project light lines onto the blade surface and needs image processing to find the 3D coordinates. The distances vary from 250 to 650 mm and the accuracy obtained within the distance range is below 1 mm. The calibration process needs a previous camera calibration and special calibration boards to calculate the correct distance between the laser diodes and the camera. The sensor position fixed on the robot arm is found by moving the robot to selected positions. The experimental procedures show the success of the calibration scheme.
机译：本文介绍并讨论了一种校准特殊的激光三角测量传感器的方法，以扫描和绘制水轮机叶片的表面，并将3D坐标分配给专用的机器人，以通过分层焊接来修复因气蚀蚀而腐蚀的叶片损坏和/或循环载荷产生的裂纹。由于照相机和激光二极管中存在较大的非线性，因此很难高精度地测量大范围距离。为了提高基于激光三角测量的测距传感器的精度和准确性，提出了一种标定模型，该标定模型包括摄像头，镜头，激光位置以及与机器人基座相关的机械臂上传感器位置的参数，以查找在应用的距离范围内具有最高的精度。开发的传感器由CMOS相机和两个激光二极管组成，这些激光二极管将光线投射到刀片表面上，需要进行图像处理才能找到3D坐标。距离从250到650 mm不等，并且在距离范围内获得的精度低于1 mm。校准过程需要事先进行相机校准和特殊的校准板，以计算激光二极管和相机之间的正确距离。通过将机器人移动到选定位置，可以找到固定在机器人手臂上的传感器位置。实验程序证明了校准方案的成功。

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