遥控焊接宏观环境建模技术  

Dynamic modeling of semi-structure environment of remote robotic welding

作　　者：高胜[1] 吴林[1] 张保龙 

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 [2]大庆奥维电缆有限责任公司,黑龙江大庆163311

出　　处：《大庆石油学院学报》2006年第5期75-78,共4页Journal of Daqing Petroleum Institute

基　　金：中国博士后基金(2005038524);黑龙江省博士后基金(LBH-Z05111)

摘　　要：提出了一种基于本地端操作虚拟环境实现遥控焊接的操作思想.与传统的基于视频图像信息作为主要反馈的操作模式相比,它能够有效地克服网络时延对遥控焊接的影响,从而增强了遥控焊接的稳定性与可靠程度;通常情况下,遥控焊接宏观环境可以描述为一种半结构化环境.基于远端CCD图像信息研究了本地端虚拟环境的动态建模,内容包括虚拟环境模型的初始化构造、远端CCD摄像机参数的标定、虚拟环境模型的校准及其虚拟厚度表达,并在以Java和Java3D技术开发的本地端虚拟环境中予以实现,为实现遥控焊接提供操作平台.This paper proposes a virtual environment(VE) based on scheme for remote robotic welding.It shows great advantages over conventional video feedback based models in suppressing the effect of uncertain time delay,thus stability and reliability of remote welding can be obtained.Generally,the remote environment of robotic welding can be described as a semi-structure environment,based on which the dynamic modeling of VE is thoroughly studied by using CCD images.The research includes the initial construction of the VE from CAD models database,the calibration of remote CCD camera,the calibration of VE elements and the construction of virtual thickness models of each VE element.Finally,the above tasks are implemented in our VE that is developed by using Java and Java3D,which can provide a valuable platform for remote robotic welding.

关 键 词：饥器人 遥控焊接 半结构化环境 虚拟环境 动态建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]