Fast Hand-Eye Calibration Method and Automation Program for Robots Based on Laser Line Sensors

YANG Xiao; ZHUO Lei; ZHOU Dong; XU Wenhao

doi:10.7512/j.issn.1001-2303.2025.01.07

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Fast Hand-Eye Calibration Method and Automation Program for Robots Based on Laser Line Sensors
Vol. 55, Issue 1, Pages: 51-57(2025)
Published： 20 January 2025 ，
DOI： 10.7512/j.issn.1001-2303.2025.01.07
稿件说明：

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杨霄，卓磊，周东，等.基于线激光传感器的机器人快速手眼标定方法和自动化程序［J］.电焊机，2025，55（1）：51-57.

YANG Xiao, ZHUO Lei, ZHOU Dong, et al.Fast Hand-Eye Calibration Method and Automation Program for Robots Based on Laser Line Sensors[J].Electric Welding Machine, 2025, 55(1): 51-57.
杨霄，卓磊，周东，等.基于线激光传感器的机器人快速手眼标定方法和自动化程序［J］.电焊机，2025，55（1）：51-57. DOI： 10.7512/j.issn.1001-2303.2025.01.07.

YANG Xiao, ZHUO Lei, ZHOU Dong, et al.Fast Hand-Eye Calibration Method and Automation Program for Robots Based on Laser Line Sensors[J].Electric Welding Machine, 2025, 55(1): 51-57. DOI： 10.7512/j.issn.1001-2303.2025.01.07.

摘要

线激光传感器用于焊接机器人视觉引导时，易出现前期手眼标定较为繁琐、人为误差较大、后期难以复用和自动重标定等问题，提出了一种基于标准球的机器人快速手眼标定方法和通用性自动标定程序。该方法利用线激光传感器扫描标准球，通过球心拟合算法获取球心位置，并结合机器人位姿信息，建立传感器坐标系与机器人坐标系之间的转换关系。自动标定程序支持多种品牌机器人、线激光传感器和通讯协议，并采用PCL点云库和MathNET数值计算库进行计算，实现了标定过程的自动化和通用性。试验结果表明，该方法只需机器人粗略示教5个程序点，即可在2 min内自动扫描并获得标定结果，标定精度优于0.5 mm，满足机器人弧焊应用要求。此外，该程序易于复用，可简化机器人搭载线激光3D视觉系统的前期调试和后期运维工作，有效解决了传统手眼标定方法的不足，为线激光传感器在机器人视觉引导中的应用提供了便利。未来，将从减小球心拟合误差、优化扫描位置姿态等方面对标定方法进行进一步优化，并拓展其在高能束精密焊接等领域的应用。

Abstract

In the application of laser line sensors for visual guidance of welding robots

the traditional hand-eye calibration methods often suffer from problems such as cumbersome procedures

significant human errors

difficulty in reuse

and inability to perform automatic recalibration. To address these issues

this paper proposes a rapid hand-eye calibration method for robots based on standard spheres and a general automated calibration program. The method utilizes a laser line sensor to scan a standard sphere

employs a sphere center fitting algorithm to obtain the sphere center position

and combines it with robot pose information to establish the transformation relationship between the sensor coordinate system and the robot coordinate system. The automated calibration program supports various brands of robots

laser line sensors

and communication protocols

and utilizes the PCL point cloud library and MathNET numerical calculation library for computation

thereby achieving automation and versatility in the calibration process. Experimental results show that this method only requires the robot to roughly teach 5 program points

and can automatically scan and obtain calibration results within 2 minutes

with a calibration accuracy better than 0.5 mm

meeting the requirements of robot arc welding applications. Moreover

the program is easy to reuse

simplifying the preliminary debugging and later operation and maintenance work of the robot equipped with a laser line 3D vision system

effectively solving the shortcomings of traditional hand-eye calibration methods

and providing convenience for the application of laser line sensors in robot visual guidance. In the future

the calibration method will be further optimized from aspects such as reducing the sphere center fitting error and optimizing the scanning position and attitude

and its application will be expanded to fields such as high-energy beam precision welding.

关键词

Keywords

references

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