This paper establishes a mathematical model of the linear structured light vision system,and proposes a calibration method for the linear structured light vision system based on coplanar targets,including the calibration of the internal and external parameters of the camera,and the calibration method of the linear structured light plane in the camera coordinate system.A method using differential idea to approximate the actual value of the ordinate of the calibrated feature points in the world coordinate system is proposed.Using the external reference during camera calibration,multiple feature points are transformed into the camera coordinate system to form the optical plane overdetermined equations,and the parameters of the optical plane equations are estimated by the least square method.In order to verify the accuracy and practicability of the method,the vision system composed of CMOS industrial camera and line laser transmitter is realized.The experiment is carried out by measuring the chessboard calibration board.The experimental results show that the relative error measured by this calibration method is 0.14％,which can meet the accuracy requirements of welding robot.
维普
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