基于焊缝路点局部点云的焊枪空间姿态确定  

Determination of welding torch space pose based on local point cloud of weld path points

作　　者：胡嘉成 於双飞 张涛 管贻生[1] 朱海飞 HU Jiacheng;YU Shuangfei;ZHANG Tao;GUAN Yisheng;ZHU Haifei(School of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangzhou,510006,China)

机构地区：[1]广东工业大学,机电工程学院,广州510006

出　　处：《焊接学报》2024年第4期86-92,I0008,共8页Transactions of The China Welding Institution

基　　金：广东省重点领域研发计划(2019B090915001,2020B090928002)。

摘　　要：针对目前基于三维视觉传感面向几何与位置信息不确定工件的机器人焊接研究中,焊缝路点的焊枪空间姿态确定方法针对性强、局限性高等问题,提出了一种基于焊缝路点局部点云的焊枪空间姿态确定方法.首先描述了焊枪的空间姿态参数模型,然后通过考虑传感器的前置安装距离确定kd-tree的最小搜索半径,获取焊缝路点处的局部点云,并逐步确定该路点处焊枪的偏摆平面与倾斜平面,从而确定焊枪在该焊缝路点处与工件的无碰空间姿态.结果表明,该方法适应性强、有效性好.由于点云表面质量的原因,姿态确定结果与真实姿态存在一定波动,后续经过平滑处理可以满足机器人焊接需求,有望提升基于三维视觉传感面向几何与位置信息不确定工件的机器人自主焊接作业水平.In view of the current research on robot welding of workpieces with uncertain geometric and positional information based on 3D visual sensing,the method for determining the spatial posture of the welding torch at the welding path point is highly targeted and has high limitations.A method of determining welding torch space pose based on local point cloud of weld path points was proposed.Firstly,the spatial pose parameter model of welding torch is described,and then the local point cloud at the weld path point is obtained by considering the the sensor front-mounted distance to determine the minimum search radius of kd-tree,and the deflection plane and inclined plane of welding torch at the path point are gradually determined,so as to determine the non-collision space pose between the welding torch and the workpiece at the weld path points.The results show that this method has strong adaptability adaptabilityand good effectiveness. Due to the surface quality of pointclouds, there is certain fluctuation in the attitude determinationresults compared with the real attitude, but it can be smoothedto meet the needs of robotic welding. This method is expectedto improve the level of robotic autonomous welding operationbased on 3D visual sensing for workpieces with uncertain geometricand positional information.

关 键 词：三维点云 焊枪姿态 机器人焊接 

分 类 号：TG409[金属学及工艺—焊接] TP242.2[自动化与计算机技术—检测技术与自动化装置]