Laser & Optoelectronics Progress, Volume. 60, Issue 10, 1015002(2023)
Hand-Eye Calibration Method of Line Structured Light Vision Sensor Robot Based on Planar Target
Figures & Tables(10)
Table 1. Parameters of experimental platform equipment
View tableTable 1. Parameters of experimental platform equipment
Equipment Specification Parameter Epson
industrial
robot
Model C3-A6008 Repeat positioning
accuracy /mm
±0.02 Line structured
light vision
sensor
Format /mm 200×100 Wavelength /nm 650 Resolution in X direction /mm 0.1 Resolution in Z direction /mm 0.05 Working distance /mm 200 Accuracy /mm ±0.1 Flat round
target
Solid circle diameter /mm 35 Accuracy /μm ±3 Standard ball
target
Diameter /mm 30 Accuracy /μm ±0.5 Sawtooth
target
Sawtooth spacing /mm 20 Number of crests 9
Table 2. Center coordinate data of plane circular target
View tableTable 2. Center coordinate data of plane circular target
Serial
number
Pose information of robot flange end in base coordinate system Coordinates of center of circle
in the sensor coordinate system
X /mm Y /mm Z /mm U /（°） V /（°） W /（°） x /mm y /mm z /mm 1 -32.253 367.453 506.016 89.621 2.382 171.804 -0.9581 0.0001 85.4521 2 -19.044 360.459 509.862 89.764 1.924 173.656 2.3765 0.0001 88.6238 3 -39.476 360.983 497.478 109.623 2.910 170.899 -1.7034 0.0001 76.987 4 -19.606 360.459 509.862 109.886 1.924 173.656 -1.9219 0.0001 88.4338 5 -14.612 353.825 494.952 129.871 1.924 173.656 2.7887 0.0001 73.4879 6 18.626 386.508 492.352 130.132 2.433 -179.790 2.2408 0.0001 73.2039 7 8.224 393.724 492.352 150.105 2.433 -179.790 2.1896 0.0001 73.1993 8 37.212 424.477 489.681 150.116 0.904 -173.965 0.5572 0.0001 76.751 9 9.046 436.601 496.237 173.000 0.904 -173.965 -1.1922 0.0001 83.0772 10 30.935 384.340 495.937 172.886 -2.805 179.180 0.5282 0.0001 77.3549 11 21.017 395.756 483.330 -167.193 -2.805 179.180 2.2846 0.0001 65.0681 12 21.017 395.756 483.330 -167.193 -2.805 179.180 2.2858 0.0001 65.0752 13 -42.936 388.969 489.674 71.809 4.168 169.119 0.2909 0.0001 70.6475 14 -17.634 388.626 489.674 71.884 5.256 172.468 0.3547 0.0001 69.3708 15 -7.797 390.195 489.674 51.875 5.256 172.468 0.9016 0.0001 69.2066 16 -36.494 358.779 489.674 52.695 -0.493 172.034 2.5581 0.0001 68.9965 17 -15.989 341.574 489.674 32.684 -0.120 176.772 3.7068 0.0001 68.2645 18 12.267 410.806 489.674 31.263 8.266 170.509 2.4624 0.0001 71.999
Table 3. Verification experiment of repeated positioning accuracy of 3D measurement system
View tableTable 3. Verification experiment of repeated positioning accuracy of 3D measurement system
Serial number Matrix inverse 3D coordinates Matrix inverse 3D coordinates X Y Z X Y Z Standard deviation 0.2145 0.3893 1 -8.3326 341.3045 105.0707 -8.3438 341.3810 105.8428 2 -8.3678 341.3657 104.9710 -8.4239 341.0357 105.7163 3 -8.3285 341.4857 105.3702 -8.3891 341.5315 106.1413 4 -8.2841 341.4204 105.0968 -8.3846 341.0151 105.8649 5 -8.3586 341.3741 104.9267 -8.4405 341.4348 105.6984 6 -8.3014 341.3059 104.7649 -8.5576 341.3385 105.5357 7 -8.2319 341.4018 104.7125 -8.2930 341.4127 105.4774 8 -8.2996 341.5159 104.8848 -8.3177 341.4915 105.6383 9 -8.3614 341.3923 104.7291 -8.0712 341.3675 105.5057 10 -8.4832 341.4684 105.0155 -8.4853 341.5272 105.0967 11 -8.2707 341.4413 104.9817 -8.2956 341.0700 105.1214 12 -8.4303 341.5124 105.1678 -8.4419 341.8443 105.9150 13 -8.3001 341.3180 105.2831 -8.3314 341.4260 106.0547 14 -8.2927 341.2756 105.1918 -8.0887 341.5793 105.9493 15 -8.3941 341.3813 105.0576 -8.3323 341.5254 105.8204 16 -8.4299 341.3840 105.1271 -8.3383 341.5229 105.8647
Table 4. Measurement accuracy verification experiment of 3D measurement system
View tableTable 4. Measurement accuracy verification experiment of 3D measurement system
Serial number Flat target Standard ball target EF CD AB EF CD AB 1 20.2242 80.2756 179.6909 20.1382 79.8808 180.1398 2 19.8050 79.6891 179.7167 20.3377 79.9512 179.5426 3 19.8311 80.3123 180.1920 19.5018 80.4996 180.6814 4 20.1617 79.9087 180.2337 19.9716 79.5309 180.3112 5 20.0213 79.7100 180.5433 20.5378 79.8903 180.5709 6 20.3421 80.5239 179.6690 19.7766 79.9608 179.6822 7 20.3240 80.1450 180.0415 19.9017 79.5088 179.7994 8 20.2504 80.2395 180.3840 19.7116 80.5410 180.3040 9 19.6932 80.2055 180.2983 20.3923 80.6485 179.4420 10 19.9737 79.9394 179.6242 20.3999 79.6180 180.7706 11 20.0059 79.8291 180.0091 19.4639 79.5685 180.6307 12 19.7227 80.4235 180.0489 19.5339 80.1957 179.5418 13 19.7136 80.2535 179.5033 20.5841 79.5327 179.6580 14 20.2941 80.1669 179.6290 20.4282 79.6015 180.3610 15 20.2269 80.2098 179.9987 19.4916 80.5543 179.6905 16 19.8347 79.9973 180.0437 19.5615 80.4769 180.4188 Truth value 20 80 180 20 80 180 RMSE 0.2301 0.2629 0.3000 0.4037 0.4136 0.4596
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Qinghua Wu, Jiefeng Qiu, Zhiang Li, Jiacheng Liu, Biao Wang. Hand-Eye Calibration Method of Line Structured Light Vision Sensor Robot Based on Planar Target[J]. Laser & Optoelectronics Progress, 2023, 60(10): 1015002
Paper Information
Category: Machine Vision
Received: Mar. 1, 2022
Accepted: Mar. 9, 2022
Published Online: May. 23, 2023
The Author Email: Wu Qinghua (wqhua@hbut.edu.cn), Qiu Jiefeng (623779448@qq.com)
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