In the online measurement of automotive body-in-white, the fixed visual online measuring equipment and flexible visualonline measuring equipment are often used in the field to meet different measurement requirements. Therefore, it isnecessary to calibrate the two systems separately before measurement. The hybrid measurement equipment’s calibrationis involuted and inefficient. So, in this paper, an integral-fast calibration method for flexible and fixed on-line detectionequipment is proposed to solve these problems. In this paper, the calibration theory and the on-site calibration techniqueare described in detail. The following is a summary of the calibration process. First, measuring the same targetsimultaneously with the fixed vision sensor and the flexible vision sensor. Then, according to the robot's own coordinateequipment relationship in the flexible measurement, the control points are multipath measured and the hand-eyerelationship of the robot is calculated. Then, the relationship between the vehicle body coordinate equipment and therobot base coordinate equipment is calculated by using the laser tracker according to the vehicle body positioningreference and the target control point. At last, and the coordinate equipment conversion relationship of the fixedmeasurement equipment is simultaneously calibrated according to the result of the flexible measurement equipment.Eliminating the section for separate measurement of the fixed measurement equipment by the laser tracker and savingcalibration time. Ensuring the overall measurement consistency of the hybrid measurement equipment. We designed averification test and the test results show that the standard deviation of the calibration method can reach 0.15mm, and thecalibration method has high efficiency and simple method, which can meet the calibration requirements of the body-inwhitemeasuring equipment in the field environment.
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