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The automatic calibration method in robot based multi-laser vision system
The automatic calibration method in robot based multi-laser vision system
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机译：基于机器人的多激光视觉系统的自动校准方法
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摘要
An automatic calibration method of a robot based multi-laser vision system is provided to reduce manufacturing time of products by performing rapid and precise calibration. A calibration jig mounted on an end effector of a square beam of a robot is moved to the initial position(S200). A trigger signal is transmitted from a controller of the robot to a multi-laser vision system(S210). The multi-laser vision system, receiving the trigger signal, captures an image(S220). A center line of laser stripe patterns is detected from the captured image(S230). A character point on an image coordinate system, corresponding to a corner point of a triangle pattern, is extracted from the center line(S240). Noise of the extracted character point is removed(S250). A position value of the end effector is transmitted from the controller to the multi-laser vision system(S260). Calibration is performed using a position value of the noise removed character point and the position value of the end effector(S270). By comparing a calibration error with an allowable error, whether to perform recalibration is determined(S280). A projection matrix is obtained through the performed calibration(S290).
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