自由摆放组合立板点云上激光焊接轨迹提取方法  

Laser Welding Trajectory Extraction Method on Cloud of Point of Vertical Plates with Arbitrary Posture

作　　者：李奕飞 潘通 周鑫 徐金亭[1] LI Yi-fei;PAN Tong;ZHOU Xin;XU Jin-ting(School of Automotive Engineering,Dalian University of Technology,Liaoning Dalian 116024,China;AECC Shenyang Liming Aero-Engine Co.,Ltd.,Liaoning Shenyang 110043,China)

机构地区：[1]大连理工大学汽车工程学院,辽宁大连116024 [2]中国航发沈阳黎明航空发动机有限责任公司,辽宁沈阳110043

出　　处：《机械设计与制造》2023年第3期179-182,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51975097);辽宁省自然科学基金项目(20180520030)。

摘　　要：为实现自由摆放组合立板构件的自动激光焊接,提出一种直接面向组合立板构件测量点云的激光焊接轨迹提取方法。首先,利用随机采样一致性算法,删除组合立板散乱测量数据的背景噪声;然后通过平面区域的快速生长,实现组合立板点云数据的分割,从而获取立板有效数据信息;在此基础上,通过立板的位姿调整并结合立板的结构信息,提出组合立板角点识别及焊接轨迹快速构造方法,自动生成激光焊接轨迹。试验结果表明:无需借助组合立板构件的CAD设计模型,该方法就可从测量点云上准确提取自由摆放组合立板的焊接轨迹,从保证自动焊接过程的实现。In order to realize the automatic laser welding of freely placed vertical plates,a method of laser welding trajectory extraction on the point cloud measured from the vertical plate was proposed. First,the random sampling consistency algorithm was used to remove the background noise of the scattered measurement data. Then,region growing was used to segment the point cloud data of the vertical plates for obtaining the valid data. By combining the orientation adjustment and structural information of the vertical plates,a method of corner recognition was proposed to automatically extract the laser welding trajectory. The testing results show that the proposed method can extract exactly the welding trajectory of the freely placed composite vertical plates from measurement point cloud without the help of CAD model of the vertical plates,thereby ensuring the realization of the automatic welding process.

关 键 词：组合立板 测量点云 激光焊接 轨迹提取 

分 类 号：TH16[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]