Calibration Method of Spray Machine Based on Hand-Eye System
In order to realize the location and calibration of vehicle paint defects and adapt to the visual guidance and control of spraying,a calibration method combining binocular vision and hand-eye system is proposed.Firstly,YOLOv5s algorithm was used to detect vehicle paint defects.Then,the depth estimation and coordinate transformation of the defect position were performed to realize the localization of the defect position.Finally,the hand-eye calibration method was used to obtain the coordinate relationship between the camera coordinate system and the spray head coordinate system.The results show that the calibration method of vehicle spraying machine based on hand-eye system has high feasibility.
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