为了实现复杂条件下的焊缝检测与跟踪,通过激光扫描技术,开发了环形激光视觉传感器,与机器人手爪一起构成焊接机器人“手眼”系统,从而获得焊缝三维信息。改善了传统的点状或线条状激光视觉传感器信息量少、解释模糊以及跟踪方向单一等问题。研究了用于焊缝定位与跟踪的环形激光视觉传感器系统的内外参量标定,提出了实现焊缝三维计算的模型,最后,以对接接头、搭接接头、角接接头为对象进行了试验验证,并对标定精度进行了分析。结果表明:环形激光在不同的焊缝表现了不同的形态,结合标定试验结果,能够计算被检测焊缝的三维坐标,计算精度能够满足试验要求。

In order to meet the requirement of seam finder and seam tracking under special conditions, using laser scanning technique, seam tracking system based on circular laser sensor is developed, cooperated with welding robot, built “hand-eye” system, and three-dimensional information for weld workpiece could be extracted, escaped from shortcomings of less information, ambiguous explanation and single tracking direction for “spot” or “line” laser trajectory. Study on calibration of vision sensor for seam position and seam tracking is carried out. Finally, real experiment for butt joints, lap joints and corner joints was carried out and the calculation precision was analyzed. The results showed, the pattern of the circular laser is different for different seam, combining with calibration results, the three-dimensional coordinates of welded joints could be determined and the precision could meet the requirement of seam tracking test.