陈天元,宋光明,王富林,何杏兴,宋爱国.基于手眼系统的线结构光焊缝跟踪系统设计[J].仪器仪表学报,2017,(10):2407-2414
基于手眼系统的线结构光焊缝跟踪系统设计
Design of a welding seam tracking system with the structured light based on the hand eye system
  
DOI:
中文关键词:  手眼系统  焊缝跟踪  线结构光  手眼标定
英文关键词:hand-eye system  welding seam tracking  line structured light  hand eye calibration
基金项目:
作者单位
陈天元 东南大学仪器科学与工程学院南京210096 
宋光明 东南大学仪器科学与工程学院南京210096 
王富林 南京熊猫电子装备有限公司南京210033 
何杏兴 南京熊猫电子装备有限公司南京210033 
宋爱国 东南大学仪器科学与工程学院南京210096 
AuthorInstitution
Chen Tianyuan School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 
Song Guangming School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 
Wang Fulin Nanjing PANDA Electronics Equipment Co.,Ltd, Nanjing 210033, China 
He Xingxing Nanjing PANDA Electronics Equipment Co.,Ltd, Nanjing 210033, China 
Song Aiguo School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China 
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中文摘要:
      为了实现一般手眼系统与线结构光焊缝跟踪系统主要部件的复用,在一般手眼系统的基础上,加装激光器、滤光片、保护装置等设备,将其用作焊缝跟踪系统中的线激光结构光焊缝跟踪传感器。通过实验对原手眼系统的标定结果进行实验修正,使其可以替代线结构光焊缝跟踪传感器的标定。详细分析了安装激光器、滤光片、保护装置等对原手眼标定结果造成的影响,使用数据逼近的方法提高线激光结构光焊缝跟踪传感器的手眼标定精度;实验时先对手眼系统进行标定,得到相机坐标系到工具坐标系的原外参矩阵;再对使用原外参矩阵得到的焊点数据,与焊点的实际坐标的误差进行分析,修正手眼系统标定结果。通过实验验证了本方法在手眼系统标定结果基础上,进行加装机构后的线结构光焊缝跟踪传感器的手眼标定的平均精度可达0.53 mm,能够满足机器人焊接的需求。
英文摘要:
      In order to realize the reuse of the main components of the general hand eye system and the structured light seam tracking system, the installation of a laser, filter and protective device on the basis of the general hand eye system makes it used as a seam tracking sensor. Calibration results of the original hand eye system were experimentally modified to replace the calibration of the structured light seam tracking sensor. The influence caused by the installation of laser and filter on the original hand eye calibration result is analyzed in detail. The method of data approximation is used to improve the hand eye calibration accuracy of the line laser structured light seam tracking sensor. In the experiment, the hand eye system is calibrated firstly to obtain the original matrix of the camera coordinate system to the tool coordinate system. The error of welding point data obtained from the original extrinsic matrix and the actual coordinate of the solder joint is analyzed to correct the hand eye calibration result. Experimental results show that the average precision of the hand eye calibration of the light seam tracking sensor based on the calibration results of the general hand eye system is 0.53mm, which can meet the requirements of engineering welding.
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