激光扫描在工件角点定位中的应用方法  

Application of Laser Scanning in Location of Workpiece Corner

作　　者：龚海强 单奇[1] 罗新河 GONG Hai-qiang;SHAN Qi;LUO Xin-he(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2020年第9期239-242,247,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(51475387)。

摘　　要：为了获取激光测量平面中工件角点的精确坐标信息,提出一种激光扫描在工件角点定位中的应用方法。利用安装在机械臂末端的激光传感器扫描工件从而获取工件在激光测量平面的三维几何信息。通过相邻两个采样点之间的高度差求出工件特征轮廓点坐标信息,结合欧氏距离大小关系确定同一个连通区域上工件的特征轮廓点,利用同一个连通区域上相邻的三个特征轮廓点间斜率的数值关系得出连通区域上角点的坐标信息。实验结果表明,利用该方法对工件进行检测,得到角点检测精度为,检测平均时间在0.5s内,检测结果有效可靠,能满足精度要求,为工件在激光测量坐标系中的定位提供了重要依据。In order to obtain the precise coordinate information of workpiece corners in laser measurement plane,a method of workpiece corner location based on laser scanning is proposed.Using the laser sensor installed at the end of the manipulator to scan the workpiece,the 3D geometric information of the workpiece in the laser scanning plane is obtained.Through the height difference between two adjacent sampling points,the coordinate information of the feature outline point of the workpiece is obtained,and the characteristic contour points of the workpiece on the same connected region are obtained by the relation of the Euclidean distance size.The coordinate information of the upper corner points of the connected region is obtained by using the numerical correlation of the slope of the three adjacent characteristic contour points on the same connected region.The experimental results show that this method is used to detect the workpiece,and the accuracy of detection is within 300μm.The average time of detection is within 0.5s.The detection results are effective and reliable,which can meet the precision requirements.It provides an important basis for the positioning of the workpiece in the laser measurement coordinate system.

关 键 词：激光扫描 非接触测量 测量 定位 

分 类 号：TH16[机械工程—机械制造及自动化] TN247[电子电信—物理电子学]