基于特定平面的单目视觉焊缝起始点导引

Guidance of initial point of weld by monocular vision based on specific plane

为了解决传统采用立体视觉和模板匹配方法实现焊缝起始点自动化导引过程中存在的算法复杂、运算速度慢以及导引精度不高等问题,提出了一种基于特定平面的单目视觉焊缝起始点导引方法。首先,采用"单目双位"和随机一致性算法对放置待焊工件的工作平面进行标定,将导引范围限制在该特定平面上;然后以手持点激光作为主动光源照射到该平面上,在保持摄像机坐标系姿态不变的情况下,导引摄像机至焊缝起始点,进而计算该点在机器人基坐标系下的三维坐标指导机器人运动使焊枪到达焊缝起始点。

In order to solve the problems existed in the traditional stereo vision and template matching method in the process of automatic guidance of the weld initial point,such as the complex algorithm,the operation of low speed as well as the low accuracy of guidance. In this paper,a method to guide the weld initial point by a monocular visual based on a specific plane was proposed. Firstly,the working plane of the workpiece to be welded is calibrated by adopting " monocular and double bits" and random consistency algorithm,and the guidance range is limited to the particular plane. Then the hand-held point laser is used as the active light source to illuminate the plane,and the camera is guided to the weld initial point under the condition of keeping the unchanged status of the camera coordinate system. At last,the 3 D coordinates of this point in the robot coordinate system are calculated to guide the robot to move to the weld initial point.