基于人机交互的遥控焊接虚拟环境标定技术  

Virtual environment calibration based on human-machine interaction for remote welding

作　　者：魏秀权[1] 李海超[1] 高洪明[1] 高胜[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《焊接学报》2006年第4期37-40,共4页Transactions of The China Welding Institution

基　　金：总装备部十五预研项目(41318.5.1.2)

摘　　要：对于工作在非结构化环境中的机器人遥控焊接系统,虚拟环境与真实环境的一致性直接决定了系统的可靠性、作业精度和工作效率。虚拟环境标定技术可以通过远端真实环境的信息反馈校正虚拟环境中机器人模型与工作环境模型的位姿关系。采用人机交互的图像特征提取方式和线性与非线性结合的最小二乘算法,实现了摄像机在线标定和工件定位,完成了遥控焊接系统的虚拟环境标定任务。在标定试验中,当采用较大的摄像机焦距时,最大标定误差为2.9 mm,平均标定误差为1.5 mm。根据试验的过程和结果,分析了影响标定精度的因素。For a robot remote welding system working in an unstructured environment,the coherence between virtual environment(VE) and real environment determines the reliability,operation accuracy and work efficiency of the system directly.The VE calibration technique can calibrate the relationship between robot model and working environment model in VE by the data from the real environment of remote worksite.The task of VE calibration in remote welding system is achieved by camera calibration and part localization which both rely on image feature acquisition in human-machine interaction mode and nonlinear least-squares algorithms combined with linear ones.In the experiment,the maximum error is 2.9 mm and the average error is 1.5 mm when a rather large focal length is used.An analysis of factors influencing the calibration accuracy is done based on the experimental process and results.

关 键 词：虚拟环境标定 人机交互 遥控焊接 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]