为了解决工业机器人线结构光视觉引导系统在测量目标物体棱边时难以保证定位基准精度的问题, 提出了多个线结构光视觉传感器组合测量的方法。首先使用单个线结构光视觉测量系统对目标物体的棱边进行测量分析, 通过改变目标物体的位姿找出测量系统中存在的问题; 之后结合单目线结构光视觉测量系统的不足, 设计线结构光视觉测量系统的组合测量方案, 并对各测量系统的测量位置进行了合理布局, 理论论证得出: 四组线结构光视觉测量系统的组合测量方法可以达到测量物体任意位姿的目的; 最后对该组合测量方法进行了测量系统的实验验证以及控制系统的仿真验证, 实验结果表明测量误差均值为0.13 mm, 对机器人的位姿引导误差期望值为0.3 mm, 证实了方法的有效性。

In order to solve the problem that the line structure optical vision guidance system of industrial robots is difficult to ensure the accuracy of positioning reference when measuring the edge of the target object, a method for combining measurement of multiple line structured light vision sensors is proposed. Firstly, we use a single line structured light vision measurement system to measure and analyse the edge of the target object, and find out the problems in the measurement system by changing the position and attitude of the target object. Then we combine the shortcomings of the monocular line structured light vision measurement system to design the combination measurement scheme of line structure optical vision measurement system, and then reasonable layout of measuring position of each measuring system. Theoretical argumentation: the combined measurement method of four sets of line structure optical vision measurement system can achieve the purpose of measuring arbitrary position and attitude of objects. Finally, we carried out the experimental verification of the measurement system and the simulation verification of the control system. The results show that the mean value of the measurement error is 0.13 mm, and the expected value of the pose guidance error of the robot is about 0.3 mm, which verifies the effectiveness of the method.