机器人激光扫描式焊缝跟踪测量系统研究  

Study on the calibration of robotic seam tracking of laser scanning systems

作　　者：宋亚勤[1] 张斌[1] 刘开元[1] 唐琛[1] 

机构地区：[1]中国计量学院计量测试工程学院,浙江杭州310018

出　　处：《中国计量学院学报》2016年第1期33-38,共6页Journal of China Jiliang University

基　　金：浙江省仪器科学与技术重中之重学科人才培养计划资助项目(No.JL150505)

摘　　要：提出了机器人激光扫描式焊缝跟踪系统参数的标定方法和基于数字图像处理的焊缝特征点识别方法.采用中值滤波、自适应阈值分割和孤点滤波法等对激光图像进行预处理,以数字形态学方法获得焊缝特征点坐标;然后以一组平行线为靶标,获得激光平面上无穷远处一点在摄像机中的投影,实现结构光参数的标定;最后以多个机器人位姿对固定目标点进行检测,求解出机器人的手眼矩阵.整个系统标定过程简单,精度可靠,可用于空间曲面的U型焊缝检测.The calibration method for the laser scanning weld seam tracking system parameters and the recognition method for the seam characteristic point based on digital image processing were proposed.The laser images were preprocessed by using the median filter method,the adaptive threshold method and the isolated point filter method.The seam characteristic point was found by using the digital morphological method.The parameter calibration of the structured light according to laser plane infinity point projection in the camera was obtained by moving the sensor with the target of a set of parallel lines.The position of the robot was changed to detect the fixed target and to solve the robot hand-eye matrix.The calibration process was convenient and reliable.It could be used for the detection of U weld seams on spatial free-form surfaces.

关 键 词：数字形态学 结构光标定 三角测量法 手眼矩阵 焊缝跟踪 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]