Research On Sensor Calibration Of Flexible Visual Inspection And Robot Ontology Calibration

The birth of flexible visual testing stations provides an effective means for real-time quality monitoring of today's mainstream multi-types mixed production line. This system consists of visual sensors and industrial robots and combines with the characteristics of vision measurement's non-contact, speediness and flexibility, automation of robots, realizing the real-time online measurement of white car body size.There are many factors that can affect the measurement precision of the system, among which the measurement precision of sensor and the positioning accuracy of robots are two key links. This paper is based on the two aspects studied, realizing the precision calibration of camera and sensor and putting forward a robot ontology calibration method based on the distance errors.The main research contents:1. A deep research on the structure of the mathematical model and the measuring principle of monocular visual sensor.2. Analyses on the internal and external camera parameters and the relationship between the main coordinate systems of vision measurement, and a camera calibration technique based on any position planar target.3. A sensor calibration method based on any position planar target and cross ratio invariability, by referring to the perspective model principle of cross ratio invariability.4. A robot D-H model and do a deep research on the kinematics of robot and a robot ontology calibration method based on the distance errors, realizing the compensation of the robot connecting intrinsic error parameters.5. Related experiments to verify the feasibility and reliability of this method.