CAJ | 학술논문

针对白车身视觉检测系统中传感器数量多、种类各异、分布空间大、位置关系复杂等问题，提出了一种适用于工业现场的多视觉传感器全局校准技术。基于坐标系间接统一法，设计多个精密立体靶标作为坐标系转换中介，利用激光跟踪仪获取现场校准数据，在单位四元数数学模型的基础上，求解两坐标系间最优转换矩阵，将固定式传感器和柔性传感器的测量坐标系统一到全局坐标系。该方法已在某企业在线测量项目中成功应用，现场只需完成传感器坐标系与全局坐标系转换关系标定，降低了复杂现场环境对多传感器全局校准的限制，简化了校准过程，提高了环境适应性，校准后检测系统各向测量精度均优于±0.2 mm，满足白车身在线测量精度要求。
침대백차신시각검측계통중전감기수량다、충류각이、분포공간대、위치관계복잡등문제，제출료일충괄용우공업현장적다시각전감기전국교준기술。기우좌표계간접통일법，설계다개정밀입체파표작위좌표계전환중개，이용격광근종의획취현장교준수거，재단위사원수수학모형적기출상，구해량좌표계간최우전환구진，장고정식전감기화유성전감기적측량좌표계통일도전국좌표계。해방법이재모기업재선측량항목중성공응용，현장지수완성전감기좌표계여전국좌표계전환관계표정，강저료복잡현장배경대다전감기전국교준적한제，간화료교준과정，제고료배경괄응성，교준후검측계통각향측량정도균우우±0.2 mm，만족백차신재선측량정도요구。
A novel global calibration method for the multi-sensor vision measurement system in industrial field is proposed to solve the problem of multiple sensors of different types,large distribution space and complicated position relations in the car body-in-white vision measurement system. Based on the indirect coordinates transformation,two precise 3D targets are designed as the intermediary in coordinates transformation,and field calibration data is acquired by a laser tracker. On the basis of the unit quaternion global calibration model,the optimized transformation parameters can be established in order to unify the stationary sensor coordinates and flexible sensors coordinates to the global coordinate system. The method has been applied in the inline measurement station of a company successfully. Only the calibration of transformation relation between the sensor coordinates and the global coordinates is needed in the application filed. Therefore,the complex environmental restriction is reduced in multi-sensor global calibration. Meanwhile,the environment adaptability is improved and the calibration process is simplified. The maximum deviation of the vision measurement system is ± 0. 2 mm,which meets the accuracy requirements of the manufacture dimension changes control of car body-in-white.