基于手眼系统的线结构光焊缝跟踪系统设计

发布时间：2018-05-27 06:22

本文选题：手眼系统 + 焊缝跟踪　；参考：《仪器仪表学报》2017年10期

【摘要】：为了实现一般手眼系统与线结构光焊缝跟踪系统主要部件的复用,在一般手眼系统的基础上,加装激光器、滤光片、保护装置等设备,将其用作焊缝跟踪系统中的线激光结构光焊缝跟踪传感器。通过实验对原手眼系统的标定结果进行实验修正,使其可以替代线结构光焊缝跟踪传感器的标定。详细分析了安装激光器、滤光片、保护装置等对原手眼标定结果造成的影响,使用数据逼近的方法提高线激光结构光焊缝跟踪传感器的手眼标定精度;实验时先对手眼系统进行标定,得到相机坐标系到工具坐标系的原外参矩阵;再对使用原外参矩阵得到的焊点数据,与焊点的实际坐标的误差进行分析,修正手眼系统标定结果。通过实验验证了本方法在手眼系统标定结果基础上,进行加装机构后的线结构光焊缝跟踪传感器的手眼标定的平均精度可达0.53 mm,能够满足机器人焊接的需求。
[Abstract]:In order to realize the reuse of the main components of the general hand-eye system and the line structure light seam tracking system, the laser, filter, protective device and so on are installed on the basis of the general hand-eye system. It is used as the line laser structured light seam tracking sensor in the seam tracking system. The calibration results of the original hand-eye system are modified by experiments, which can replace the calibration of the linear structure light seam tracking sensor. The effects of laser, filter and protective device on the calibration results of the original hand eye are analyzed in detail. The accuracy of the hand-eye calibration of the laser structured light seam tracking sensor is improved by the method of data approximation. In the experiment, the camera coordinate system and the tool coordinate system are calibrated, and the error between the actual coordinates and the solder joint data obtained by using the original outer parameter matrix is analyzed. Correction of hand-eye system calibration results. On the basis of the calibration results of hand-eye system, the average precision of hand-eye calibration of the wire-structured light seam tracking sensor is up to 0.53 mm, which can meet the needs of robot welding.
【作者单位】：东南大学仪器科学与工程学院;南京熊猫电子装备有限公司;
【分类号】：TP212;TP242

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