【摘要】 本文设计了一种阶梯形标定物,这种标定物的标定点坐标更容易获取,只需线激光对准一次标定物上的标记点,与球形标定法相比操作更加简单;同时,在阶梯型标定物的基础上,提出了一种线激光传感器手眼标定算法,该算法利用RASANC(随机抽样一致)算法对标定点进行拟合,并利用最小二乘法求解手眼标定矩阵,这种标定算法无需对标定点的坐标进行修正.实验结果表明,阶梯形标定法的精度和稳定性均优于球形标定法,且该方法操作简单,可以满足自动化加工领域的大部分应用.更多还原

【Abstract】 This paper designed a step-shaped calibrator,which is easier to obtain the coordinates of the calibration points and only requires the line laser to align the marked points on the calibrator once,and easier to operate than the spherical calibration method;At the same time,based on the step-shaped calibrators,this paper proposes a hand-eye calibration algorithm for line laser sensors. The algorithm uses the RANSAC(Random Sampling Consensus)algorithm to fit the calibration points,and uses the least square method to solve the hand-eye calibration matrix. This calibration algorithm does not need to modify the coordinates of the calibration point. The experimental results show that the accuracy and stability of the step-shaped calibration method are better than those of the spherical calibration method,and the method is simple to operate and can meet most applications in the field of automatic processing.更多还原