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为了实现复杂条件下的焊缝检测与跟踪,通过激光扫描技术,开发了环形激光视觉传感器,与机器人手爪一起构成焊接机器人“手-眼”系统,从而获得焊缝三维信息。改善了传统的点状或线条状激光视觉传感器信息量少、解释模糊以及跟踪方向单一等问题。研究了用于焊缝定位与跟踪的环形激光视觉传感器系统的内外参量标定,提出了实现焊缝三维计算的模型,最后,以对接接头、搭接接头、角接接头为对象进行了试验验证,并对标定精度进行了分析。结果表明:环形激光在不同的焊缝表现了不同的形态,结合标定试验结果,能够计算被检测焊缝的三维坐标,计算精度能够满足试验要求。
In order to achieve the detection and tracking of the weld under complex conditions, a laser laser vision sensor was developed by laser scanning technology, which together with the robot gripper formed a welding robot “hand-eye ” system to obtain three-dimensional information of the weld. Improve the traditional dot or line laser vision sensor less information, explain the fuzzy and tracking a single issue. The internal and external parameter calibration of ring laser vision sensor system used for seam locating and tracking is studied. The model to realize the three-dimensional calculation of weld seam is proposed. Finally, the experimental verification is carried out on the butt joint, lap joint and angle joint, The calibration accuracy was analyzed. The results show that the toroidal laser shows different shapes in different weld seams. Combined with the calibration test results, the three-dimensional coordinates of the weld to be tested can be calculated. The calculation accuracy can meet the test requirements.