基于3D视觉的切割机器人路径规划研究  

3D Vision-based Path Planning for Cutting Robots

作　　者：王晓强 马行[1,2] 穆春阳 张春涛 翟巍 WANG Xiaoqiang;MA Xing;MU Chunyang;ZHANG Chuntao;ZHAI Wei(School of Electrical and Information Engineering,North Minzu University,Yinchuan 750021,China;The Key Laboratory of Intelligent Information and Big Data Processing of Ningxia Province,Yinchuan 750021,China;School of Mechatronic Engineering,North Minzu University,Yinchuan 750021,China)

机构地区：[1]北方民族大学电气信息工程学院,宁夏银川750021 [2]宁夏智能信息与大数据处理重点实验室,宁夏银川750021 [3]北方民族大学机电工程学院,宁夏银川750021

出　　处：《热加工工艺》2025年第5期41-45,50,共6页Hot Working Technology

基　　金：宁夏回族自治区重点研发计划项目(2021BEE03002);宁夏自然科学基金项目(2020AAC03201);自治区科技创新领军人才培养工程项目(2021GKLRLX08)。

摘　　要：为提高机器人在切割工件时的精确度,对3D视觉切割机器人进行了路径规划研究。根据3D相机视场固定的特点,采用一种求解手眼关系矩阵的多点标定法对摄像机进行标定。将3D相机采样得到的点云数据转化为机器人坐标系下的点云数据。针对点云数据处理,提出阈值自适应采样法,使用三次多项式对预切割空间曲线进行拟合。采用一种姿态估计算法,通过对切割微切平面进行拟合,完成切割机器人作业空间前进矢量和进给矢量的计算,将规划结果应用于机器人切割作业。实验结果表明,该系统误差在0.24 mm以内,切割轨迹线形良好,可满足切割机器人系统的要求。In order to improve the robot's accuracy when cutting workpieces,a path planning study was carried out on a 3D vision cutting robot.A multi-point calibration method that solves the hand-eye relationship matrix was used to calibrate the camera according to the fixed view field of the 3D camera.The point cloud data obtained by the 3D camera sampling was transformed into point cloud data in the robot coordinate system.A threshold adaptive sampling method was proposed for point cloud data processing,and the pre-cut spatial curve was fitted using cubic polynomials.An attitude estimation algorithm was used to complete the calculation of the forward vector and feed vector in the cutting robot's operating space by fitting the cutting microtangent plane,and the planning results were applied to the robot's cutting operation.The experimental results show that the error of the system is within 0.24 mm and the cutting trajectory is well aligned,which can meet the requirements of the cutting robot system.

关 键 词：切割机器人 3D视觉 阈值采样 手眼关系 

分 类 号：TG48[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]