焊缝三维信息计算精度分析及试验方法  

Accuracy analysis and experimental method on three-dimensional information computing of weld seam

作　　者：陈希章[1] 陈善本[2] 

机构地区：[1]江苏大学材料科学与工程学院,江苏镇江212013 [2]上海交通大学焊接工程研究所,上海200030

出　　处：《焊接学报》2009年第3期45-48,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50575144);江苏大学高级人才启动基金资助项目(07JDG085);江苏大学创新团队基金资助项目

摘　　要：双目视觉技术模拟人双眼观察世界的功能,在焊接领域可用来模拟焊工对焊件的观察,计算焊缝的三维信息.将两台工业摄像机安装在弧焊机器人末端形成手眼系统是双目视觉在该领域的典型应用.文中建立了视觉误差分析模型,分析了视觉系统配置对视觉计算的影响,被检测焊缝在有效视场内的摆放姿态及其与传感器相互位置对精度的影响,在理论分析的基础上设计试验验证了理论分析的结果.分析并试验验证了机器人精度包括其本身的重复精度和工具中心点标定精度对计算结果的影响.结果表明,机器人重复定位精度对视觉计算的影响标准误差不大于0.3 mm;而当工具中心点标定误差大于1 mm时,需要对机器人进行重新标定.Binocular vision technology which simulates the function of the human eyes to observe the world is used to compute the three-dimensional information of weld seam in the welding field;two cameras as binocular vision are fixed on the end effecter of the welding robot.The accuracy analysis model of vision computing is constructed.The effect of vision system structure on vision computing, and the effect of the position of weld seam and the relative pose of weld seam between vision sensors on accuracy are analyzed.An experiment base on model theory is designed to validate the model analysis results,which show the correctness of the constructed model.The effects of repeatability positioning accuracy and TCP calibration error of welding robot for visual computing are also analyzed and tested.The results show that the effect of the former factor is not bigger than 0.3 mm,but the re-calibration is necessary when the calibrated error of TCP is bigger than 1 mm.

关 键 词：双目视觉 三维信息 误差分析 弧焊机器人 

分 类 号：TG115.28[金属学及工艺—物理冶金]