Calibration technology for robotic laser scanning system

摘要

In order to calibrate the robotic laser scanning system in the industrial field,this paper proposes a line structured laser sensor calibration method based on the principle of cross-ratio invariance.The structural parameters of the laser plane in the sensor coordination system are calibrated by taking several photos of a planar target at different positions in the working range of the laser sensor,and the planar target is allowed to move freely.Then a robot hand-eye calibration method by measuring a fixed point from different robot poses is advanced.In this method,a reference sphere with known diameter is adopted as the calibration target and the robot drives the laser sensor to measure the center of the reference sphere from different poses.Translational and orientational motions of the robot are performed successively in the hand-eye calibration process and the hand-eye relationship is calibrated based on the fixedpoint constraint.Calibration results show that the calibration method proposed in this paper is efficient,fast and well suited to the calibration work of robotic 3Dshape scanning system in the industrial field.