Development of a multi-line laser sensor based robotic 3D measurement system

Laser sensor based 3D measurement system has been actively studied because of the simple sensor structure, high precision and fast data acquisition. However, conventional laser sensor based 3D measurement system has limited measurement area and light interference error which decreases the measurement accuracy. Besides, line data includes the information of uninteresting area and it leads to time consuming calculation. This paper proposes multi-line laser sensor based 3D robotic measurement system which has properties such as wide measurement range, noise robustness and fast pose calculation. Proposed system uses multi-line laser emitter to expand measurement area in single scan. Light interference is reduced by adopting band-pass filter. Five points from each single line and 25 corresponding points in single scan are sampled to accelerate calculation time. To verify proposed method, measuring experiments are done using an automobile door which has various circle shaped holes. The pose measurement of the hole is measured and the error is calculated at various measurement angles. Through experiment with industrial robot, we validate that the proposed vision system can measure the 3D pose of various door holes accurately and quickly without affection from noise distortion.