基于KUKA机器人的CRTSⅢ型轨道板三维点云自动化采集系统研究

Research of CRTSⅢ Track Board 3D Point Cloud Automatic Acquisition System Based on KUKA Robot

为适应CRTSⅢ型轨道板高精度、快速、自动化检测的需求,将KUKA机器人与三维激光扫描仪相结合,设计出一套基于KUKA工业机器人的CRTSⅢ型轨道板表面特征点云自动化采集系统。利用KUKA机器人编程语言来实现机器人运动程序和逻辑控制程序的编写,利用C#语言来实现计算机控制系统程序及人机交互程序界面的编写,通过自定义通讯协议来实现计算机与机器人程序总体集成。研究表明,系统在各坐标分量上的重复定位精度为0.08 mm,点位重复定位精度为0.06 mm,能够满足相关规范中对检测项目0.5 mm的最高精度要求。该系统已在某轨道板生产线得到应用,大幅提高了检测效率,减少了人工投入和操作难度,实现了检测过程的高度自动化。

To meet the requirements of high-accuracy,fast and automatic detection of CRTSⅢtrack slab dimension deviation,a set of automatic collection system of CRTSⅢtrack slab surface feature point cloud based on KUKA industrial robot was designed and formed by combining KUKA robot with 3 D laser scanner.KUKA robot programming language was used to realize the compilation of robot motion program and logic control program,C#language was used to realize the compilation of computer control system program and human-computer interaction program interface.The overall integration of computer and robot program was realized through user-defined communication protocol.Experiments show that,the repeated positioning accuracy of the system on each coordinate component is 0.08 mm,and the point repeated positioning accuracy is 0.06 mm,which can meet the maximum accuracy requirements of 0.5 mm for some detection indicators in relevant specifications.The system was applied in a track slab production line,which greatly improved the detection efficiency,reduced the manual input and operation difficulty,and realized the high automation of the detection process.