| With the development of industrial automation and intelligent manufacturing,industrial robots are becoming more and more popular,and the demand for three-dimensional(3D)shape measurement of large components is also growing.In this paper,the hand-eye calibration technology is introduced,and the 3D measurement method of monocular line structured light and binocular planar structured light is combined with industrial robot to realize the highprecision 3D shape measurement of large components.This paper is mainly divided into two parts: line structured light part and planar structured light part.The specific content and innovation points are as follows:(1)The three-dimensional shape-measuring method of large objects based on line structured light with industrial robot.The line structured light system has the advantages of simple structure and low requirement for measuring environment.In this paper,a method of light plane calibration based on binocular camera is proposed for the line structured light measurement system.The binocular matching of light stripe points is realized through the basic matrix,so as to reconstruct the laser stripe and fit the laser plane.It simplifies the calibration process and improves the accuracy of measurement.In addition,in hand-eye calibration part,the hand-eye calibration method based on the standard ball is improved.By establishing the light plane coordinate system,the standard spherical center coordinates can be solved,so that any line structured light plane equation can solve the spherical center coordinates.(2)The three-dimensional shape-measuring method of large objects based on planar structured light with industrial robot.The planar structured light system has the advantages of large single measurement area and high measurement accuracy.In this paper,the gray code combined with phase-shifting method is studied and used.Aiming at the part of hand-eye calibration,a method of hand-eye calibration based on binocular vision is proposed.The handeye calibration of checkerboard is carried out for two cameras.According to the hand-eye calibration matrixs of binocular camera,the error compensation is carried out to improve the accuracy of hand-eye calibration.In addition,the ICP point-cloud registration method based on point-cloud filter is proposed.Through point-cloud down sampling,removing stray points,intercepting public areas and other point-cloud filtering methods.The efficiency and stability of ICP point-cloud registration are improved. |
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