一种新型漫反射空间测距传感器  

A New Detective Distance Sensor by Diffuse Reflection Laser

作　　者：朱晓华[1] 田松亚[1] 史如森[1] 文芳[1] 顾海涛[1] 

机构地区：[1]河海大学机电工程学院,江苏常州213022

出　　处：《光学学报》2009年第12期3440-3445,共6页Acta Optica Sinica

基　　金：河海大学研究生优秀毕业论文培育基金(xzx/07b011-04)资助课题

摘　　要：采用直线跟踪加斜线插补的方法焊接集装箱波纹板的折线焊缝,其关键是折弯点的检测。设计了一种能检测波纹板折线位置的激光传感器,前置于焊枪的该传感器采用主动激光光源照射波纹板表面,漫反射光线通过限位孔后照射到线阵CCD上,通过计算曝光宽度获得光斑到CCD的距离。在检测波纹板折线位置时采用最小二乘法,回归直线段和折线段的直线方程,计算两条直线的交点,准确获取折弯点。对采样信号采用模板匹配的方法来减少波纹板表面状态对成像影响,经过实验证明该传感器的直线跟踪精度满足焊缝跟踪要求,折弯位置的检测误差在±0.5 mm内,为集装箱波纹板自动焊接在折弯点焊枪姿态改变提供了有效的判据。This paper use the method of plane tracking and inclined plane interpolation to weld the container＇s corrugated plate, the acquirement of broken line intercept point is the key point. A laser sensor is designed, which can detect broken line intercept point of the corrugated plate. The sensor placed in front of welding torch adopts initiative laser to illuminate the surface of the corrugated plate, the reflection light pass through the limit hole then illuminate linear Charge Coupled Device （CCD）, the sensor obtains the distance from spot to CCD by calculating the exposure width. Using least squares to regress plane and inclined plane into two lines and get the intersection by calculating equations of two lines and then to get the accurately broken line intercept point. Surface condition has little influence on photograph sample signal forms by the way model template in order to get boundary between exposure and no exposure. The sensor has high line precision and meets the requirement of seam tracking by experiment. The tolerance of broken line intercept point is in ±0.5 mm, it provides great helpful evidence to get broken line intercept point when container corrugated plate is welded automatically.

关 键 词：几何光学 激光传感器 焊缝跟踪 图像处理 线阵CCD 波纹板 

分 类 号：TP212.14[自动化与计算机技术—检测技术与自动化装置]