线结构光视觉系统标定新法及其振动测控应用

邱志成; 肖骏

doi:10.3788/OPE.20192701.0230

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线结构光视觉系统标定新法及其振动测控应用

信息科学 | 更新时间：2020-08-13

- 线结构光视觉系统标定新法及其振动测控应用
- New calibration method of line structured light vision system and application for vibration measurement and control
- 光学精密工程 2019年27卷第1期页码：230-240
- 作者机构：
  
  华南理工大学机械与汽车工程学院，广东广州 510641
- 作者简介：
  
  [ "邱志成(1973-)，男，辽宁朝阳人，教授，博士生导师，1995年、1997年于哈尔滨工业大学分别获学士学位、硕士学位，2000年于中国科学院沈阳自动化研究所获博士学位，主要从事柔性结构振动测量和控制研究。E-mail：zhchqiu@scut.edu.cn" ]
  [ "肖骏(1993-)，男，江西赣州人，硕士研究生，2018年于华南理工大学获硕士学位，主要从事机器视觉和柔性结构振动控制方面的研究。E-mail：925505693@qq.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(51775190);机器人学国家重点实验室开放基金资助项目(2017-O012);华南理工大学中央高校基本科研业务费资助项目(2018PY14)
- DOI：10.3788/OPE.20192701.0230
  中图分类号： TP212.6
- 收稿日期：2018-05-15，
  
  录用日期：2018-7-9，
  
  纸质出版日期：2019-01-25
- 稿件说明：
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邱志成, 肖骏. 线结构光视觉系统标定新法及其振动测控应用[J]. 光学精密工程, 2019,27(1):230-240.

Zhi-cheng QIU, Jun XIAO. New calibration method of line structured light vision system and application for vibration measurement and control[J]. Optics and precision engineering, 2019, 27(1): 230-240.
邱志成, 肖骏. 线结构光视觉系统标定新法及其振动测控应用[J]. 光学精密工程, 2019,27(1):230-240. DOI： 10.3788/OPE.20192701.0230.

Zhi-cheng QIU, Jun XIAO. New calibration method of line structured light vision system and application for vibration measurement and control[J]. Optics and precision engineering, 2019, 27(1): 230-240. DOI： 10.3788/OPE.20192701.0230.

摘要

激光视觉是一种在工业检测领域应用广泛的测量方式，其标定是视觉检测系统搭建的基础。为此，提出了一种新型线结构光视觉系统标定方法。采用张氏标定法完成相机标定，通过提取标定板上的激光条纹特征，根据三面共线条件进行处理完成结构光平面的标定，并对标准尺寸进行测量以验证标定结果的准确性。接着基于该系统搭建了柔性臂振动测控实验台，并用其对柔性臂振动进行检测，设计了一种非线性控制器抑制柔性臂的振动。实验结果表明，提出的标定方法三维检测精度可达0.1 mm，得以应用在柔性臂的振动检测上，设计的控制器也可在短时间内抑制柔性臂的振动，以此验证了标定方法的检测效果和振动抑制的有效性。

Abstract

Laser vision is a widely used measurement method in industrial detection

and its calibration is the key in developing visual sensing systems. Thus

a new calibration method of the structured light vision system was proposed. Zhang's calibration method was introduced to accomplish camera calibration. Then

the feature of the laser stripe on the calibration board was extracted

and the calibration of the structured light plane was carried out after processing

based on the collinear condition of three planes. Meanwhile

the standard size was tested to verify the accuracy of the calibration result. Based on this system

an experimental platform for vibration measurement and control of the flexible arm was constructed. The vibration of the flexible arm was measured by this system

and a nonlinear PD controller was designed to suppress the vibration. The experimental results demonstrate that the 3D measurement precision of the proposed calibration method can reach 0.1 mm; thus

this can be successfully applied to measure the vibration of the flexible arm

and the designed controller can also suppress this vibration in a short time. Finally

the effectiveness of the calibration method and vibration suppression is verified.

关键词

Keywords

references

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