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

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。

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 is0. 53 mm,which can meet the requirements of engineering welding.