使用线结构光视觉传感器实现类圆孔中心的测量方法

薛婷¹ 孙梅² 张涛¹ 吴斌³ 叶声华³

（1.天津大学电气与自动化工程学院 天津 300072；

2.天津大学内燃机研究所 天津 300072；

3.天津大学精密测试技术及仪器国家重点实验室 天津 300072）

摘要：针对基于工业机器人平台柔性三维视觉检测系统，提出线结构光视觉传感器测量空间圆（类圆）孔中心两步法。根据线结构光视觉传感器测量模型，确定被测圆心近似z向坐标。根据圆心相对摄像机光心的方位，确定被测圆心的x、y向坐标。该方法突破了传统空间圆（类圆）孔中心测量仅能采用双目视觉传感器的方式。研究结果表明，该方法切实可行，可以满足实际测量需求，能够极大地扩展线结构光视觉传感器的应用范围。

关键词：三维视觉检测 线结构光传感器 圆（类圆）心空间坐标 两步法

中图分类号：TN247 TP242(www.xing528.com)

Two-step Method for Measuring Center Coordinates of Spatial Hole Based on the Structured Light Stripe Vison Sensor

XUE Ting¹ SUN Mei² ZHANG Tao¹ WU Bin³ YE Shenghua³

（1.College of Electrical and Automation Engineering，Tianjin University，Tianjin 300072；2.Engine Research Institute，Tianjin University，Tianjin 300072；3.State Key Laboratory of Precision Measuring Technology&Instruments，Tianjin University Tianjin 300072）

Abstract：Creation of the two-step method for inspecting the spatial hole center coordinates with structured light stripe vision sensor is proposed for three-dimensional visual inspection system based on the industrial robot.According to the mathematical model of stuctured light stripe vision sensor，coordinate z of hole enter is solved.Coordinates x、y are acquired by the hole center orientation rel-ative to the camera optic center.The new approach is different from the traditional spatial hole in-spection method with stereovision sensor.The research result shows that the two-step method is fea-sible and greatly expands the application range of the structured light stripe visual inspection system.

Keywords：three-dimensional visual inspection structured light stripe vision sensor center coor-dinates of spatial hole two-step method