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近年来,激光录像传感器被广泛应用在焊缝跟踪领域,但在高速焊接过程中这种传感器却不能精确识别焊接接头。本文采用一种多谱激光录像传感器,有效克服了这个问题。这种多功能视觉传感器通过一个非球面透镜激光点光源,同时发出5束激光,提供寻找焊缝接头所获得的重要信息。由于其通过介质——一个浸蚀/扩张滤光器就能够获得清晰的图像,因此,通过这种提取方法可以获得5种增强的距离数据。通过推荐的方法,系统每秒钟可处理20帧图片。将多功能激光录像传感器安装在焊接机器人上进行实验,分别在10m/min、15m/min和20m/min的速度下对焊缝进行跟踪,所获得数据的平均误差为0.3mm,最大误差为0.6mm。这种多功能激光录像传感器性能非常可靠。
In recent years, laser recording sensors are widely used in the field of seam tracking, but in the high-speed welding process, the sensor can not accurately identify the welded joints. In this paper, a multi-spectral laser recording sensor, effectively overcome this problem. The versatile vision sensor passes an aspheric lens laser spot light and emits five laser beams simultaneously, providing important information for finding a weld joint. Because of its clear image through a medium - an etch / dilatometer filter, five enhanced distance data are available with this extraction method. By the recommended method, the system can handle 20 frames per second image. The multi-functional laser recording sensor is installed on the welding robot to carry out experiments. The welding seam is tracked at speeds of 10m / min, 15m / min and 20m / min, respectively. The average error of the obtained data is 0.3mm and the maximum error is 0.6 mm. This versatile laser recording sensor is very reliable.