面向复杂曲面的激光切割机器人移动速度平滑控制  

A method for identifying overheating faults of electrical equipment based on laser sensor

作　　者：孙筠 杨凯 SUN Jun;YANG Kai(School of Physics and electrical Engineering,Hubei University of Education,Wuhan 430205,China)

机构地区：[1]湖北第二师范学院物理与机电工程学院,武汉430205

出　　处：《激光杂志》2023年第6期245-249,共5页Laser Journal

基　　金：湖北省教育厅科学研究计划指导性项目(No.B2020175);湖北高校省级教学研究项目(No.2021457)。

摘　　要：为了提高复杂曲面下激光切割机器人的移动速度控制精度和适应能力,提出了一种面向复杂曲面的激光切割机器人移动速度平滑控制方法。通过齐次变换矩阵和D-H运动学分析方法,组建激光切割机器人运动学模型,获取机器人对应方程的正反解。采用刀具路径插补和激光入射角调整规划方法控制激光聚焦点在复杂曲面上的切割运动。同时引入加减速滤波方法修正轨迹插补后速度曲线连续性较差的问题,最终实现激光切割机器人移动速度平滑控制。仿真实验结果表明,所提方法可以有效提升激光切割机器人移动速度平滑控制精度。In order to improve the movement speed control accuracy and adaptability of the laser cutting robot under complex surfaces.In this paper,a smooth control method for the moving speed of a laser cutting robot for complex surfaces is proposed.First,the infrared images of electrical equipment are acquired,and the images are manually segmented,and then the images are preprocessed and enhanced.Then,the edge features of the electrical equipment are acquired by the laser sensor,the mapping relationship between the laser point cloud and the image is established,and the infrared image of the electrical equipment is divided into parts with similar sizes and postures through the threephase equipment.Finally,compared with the new image block,it is judged whether the corresponding image block has abnormal temperature rise,and then the thermal fault of the electrical equipment is judged,so as to achieve the purpose of identifying the overheating fault of the electrical equipment.The experimental test proves that the proposed method has good anti-noise performance and can also improve the accuracy of fault identification.

关 键 词：复杂曲面 激光切割机器人 移动速度 平滑控制 齐次变换矩阵 

分 类 号：TN249[电子电信—物理电子学]