针对焊缝跟踪的焊缝位置实时检测问题, 设计了一种能实时获取焊缝轮廓三维数据的线激光检测传感器: 采用特定波长的可见线激光作为检测激光, 由带滤镜的工业摄像机采集投射在焊缝表面的激光条纹图像; 通过增强、二值化、去噪和细化等图像处理算法提取激光条纹中心线; 基于三角测量原理, 由激光条纹中心线的像素坐标计算出焊缝轮廓的三维坐标。通过实验分别对传感器的测量精度和抗干扰性能进行验证, 实验结果表明测量精度达到±0.2 mm, 能有效抵抗弧光、飞溅的干扰, 满足实际的焊接使用要求。

Aiming at the problem of real-time weld position detection in seam tracking, a line laser detecting sensor which could abstract 3D data of the seam contour was designed. First, an industrial camera with filter collected image of the laser stripe which was projected on the weld surface by a laser with specific wavelength. Second, the center line of the laser stripe was extracted after image enhancing, binarization, noise filtering and thinning through algorithms of image processing. Third, based on the triangulation method, the 3D coordinates of seam contour were calculated from the pixel coordinates of the center line. At last, two detecting experiments were carried to verify the measurement precision and anti-interference ability respectively. The experimental results indicate that measurement precision can reach ±0.2 mm with good anti-interference ability to arc and spatter, which can satisfy the requirement of welding.