基于三线激光结构光的船体大拼接焊缝交叉类型辨识  

Identification of Hull Splice Weld Cross TypeBased on Three-Line Laser Structure Light

作　　者：李冬明 张轲[2] 薛士枚 陈易新[2] 颜乐 LI Dongming;ZHANG Ke;XUE Shimei;CHEN Yixin;YAN Le(Shanghai Jiangnan Changxing Shipbuilding Co.,Ltd.,Shanghai 201913,China;Welding and Laser Processing Institute,Shanghai Jiao Tong University,Shanghai 200240,China;Hudong-Zhonghua Shipbuilding(Group)Co.,Ltd.,Shanghai 200129,China)

机构地区：[1]上海江南长兴造船有限责任公司,上海201913 [2]上海交通大学焊接与激光制造研究所,上海200240 [3]沪东中华造船(集团)有限公司,上海200129

出　　处：《造船技术》2020年第4期42-47,共6页

基　　金：工信部船舶企业节能环保制造体系及关键工艺技术研究项目(工信部装函[2017]614号)。

摘　　要：为实现船壁面的大拼接焊缝的全自主移动除锈,提出一种基于三线激光结构光的激光视觉焊缝辨识方法。针对船体大拼接焊缝的纵横交叉,根据三线激光的特征,对描述激光形态和激光条纹间距的5个变量进行定义,归纳3条激光条纹在焊缝交叉处的特征参量的变化规律,建立十字形、T字形焊缝交叉的统一辨识模型。试验验证:采用三线激光具有更好的抗干扰性、信息量丰富,在各种工况下都能准确辨识焊缝接头交叉类型。研究结果为后续的焊缝实时跟踪和轨迹规划奠定基础。In order to realize the fully independent mobile derusting of splice welds on the ship wall,a kind of laser vision weld identification method is proposed based on the three-line laser structure light.In view of the crisscross hull splice welds,according to the characteristics of three-line laser,five variables are defined characterizing the laser shape and laser stripe spacing,the change rules of characteristic parameters of three laser stripes at the weld intersections are summed up,and the unified identification model for the cross-shaped and T-shaped weld crosses is established.The experiment verifies that it is better in the anti-interference and more abundant in the amount of information to employ the three-line laser,and it can accurately identify the weld joint cross type under the various working conditions,which lays a foundation for the follow-up weld real-time tracking and trajectory planning.

关 键 词：三线激光结构光 焊缝交叉 模型 除锈爬壁机器人 

分 类 号：U671.83[交通运输工程—船舶及航道工程]