【摘要】 针对机器人自动化打磨生产需求，设计线激光三维测量系统。以上位机为控制核心，选用线激光发生器与工业相机组成视觉采集模块，工业机器人作为执行机构。自主实现相机参数标定；研究线激光中心线提取算法，结合直线拟合、矩阵奇异值分解、平面拟合等数学原理，实现基于平面棋盘格标定板的光平面标定法；机械臂带动视觉模块采集图像，上位机处理视觉信息，经过灰度化、图像滤波、二值化等图像预处理步骤，提取激光中心线，结合标定结果得到工件三维数据；上位机根据工件三维信息指引机器人加工工件，实现测量、加工一体化工作站。实验结果表明：该系统在50～80 mm工作范围内，最大误差小于1 mm，满足工件打磨等加工场景的应用需要。更多还原

【Abstract】 Aiming at the robot’s auto-grinding production, a line laser 3D measurement system was designed. In which, having the host computer taken as the control core, and the line laser generator and the industrial camera employed to form visual acquisition module, and the industrial robot used as the actuator to calibrate camera parameters automatically; through investigating the laser centerline extraction algorithm and basing on the principles of mathematics like the straight line fitting, matrix singular value decomposition and plane fitting, the plane checkerboard-based optical plane calibration method was obtained. In addition, through making use of mechanical arm drive the vision module to collect images, employing the host computer to process visual information, adopting image preprocessing steps such as grayscale, image filtering and binarization, the laser center line was extracted and the workpiece’s 3D data was obtained through combining the calibration results; basing on the workpiece’s 3D information, the host computer guided the robot to process the workpiece and the workstation for both measurement and processing was realized. The experimental results show that, the system’s maximum error is less than 1 mm when the working range stays at 50 mm to 80 mm, which meets the application needs like the workpiece grinding and other processing.更多还原