基于手眼系统的切边模堆焊修复轨迹生成方法  

Method for generating repairing trajectory of trimming die surfacing based on hand-eye system

作　　者：胡随芯 张密科 李叶萌 詹军 佘勇 Hu Suixin;Zhang Mike;Li Yemeng;Zhan Jun;She Yong(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China;Hubei Key Laboratory of Advanced Technology of Automotive Components,Wuhan 430070,China;China Highway Vehicle&Machinery CO.,LTD,Beijing 100055,China;Hubei Tri-Ring Intelligent Technology Co.,Ltd,Wuhan 430070,China)

机构地区：[1]武汉理工大学汽车工程学院 [2]现代汽车零部件技术湖北省重点实验室 [3]中国公路车辆机械有限公司 [4]湖北三环智能科技有限公司

出　　处：《电子测量与仪器学报》2019年第10期22-28,共7页Journal of Electronic Measurement and Instrumentation

基　　金：湖北省技术创新专项(2017AAA008,2018AAA021)资助

摘　　要：针对当前废旧切边模人工修复效率低,轨迹难以控制等问题,提出一种基于手眼系统的切边模堆焊修复轨迹生成方法。该方法在机器人焊接设备上加装单目相机建立手眼系统,并通过最小化重投影误差的优化方法来提高手眼标定精度,相机采集切边模图像后,通过图像分割、边缘提取等算法提取切边模刃口轮廓点集,采用非线性分段法对轮廓点集进行曲线拟合,从而生成平滑的运动轨迹。最后利用手眼标定结果将轨迹点转换到机器人基坐标系,实现了失效切边模堆焊修复轨迹生成自动化。实际堆焊修复实验表明,该方法修复精度在1.5 mm以内,满足机器人堆焊修复要求。Aiming at the problems such as low efficiency of manual repair and difficult control of track of waste trimming die,a method for generating the trajectory of the trimming die surfacing based on the hand-eye system is proposed.This method adds a monocular camera to build the hand-eye system based on the original robot welding equipment,and uses the optimization method based on minimizing the re-projection error to improve the accuracy of hand-eye calibration.Obtain the edge points of the trimming die by image processing algorithm,and the nonlinear piecewise method is applied to curve fitting of the set of contour points to generate a smooth trajectory.The result of hand-eye calibration is used to convert the trajectory points to the robot base coordinate system,then the automatic generation of repairing track in surfacing welding of failed trimming die is realized.Actual surfacing repair experiments show that the repair accuracy of this method is within 1.5 mm,which can meet the requirements of robot arc fuse addition repair.

关 键 词：机器人 手眼标定 图像处理 堆焊修复 

分 类 号：TG455[金属学及工艺—焊接] TG76