激光视觉传感器的机器人焊缝高精度跟踪系统

Design of high-precision tracking system for robot welding with laser vision sensor

以提升焊接机器人焊接精度为目的,设计激光视觉传感器的机器人焊缝高精度跟踪系统。由工业相机和激光传感器、焊接机器人等组成系统硬件架构,获取焊缝激光光源后,将其传输至激光图像传感层。采用激光图像传感器对焊缝激光光源图像进行物理滤波处理,使用工业相机拍摄焊缝激光图像。提取焊缝激光图像特征,依据其特征点位置对焊接机器人进行手眼标定,获取焊接机器人校正向量并将该向量输入到机器人运动控制层内的焊缝跟踪程序内,利用该程序不断修正焊接机器人跟踪行为并向接口电路电机驱动器发送控制跟踪命令,实现机器人焊缝高精度跟踪。实验结果表明:该系统具备良好的启动性能,对焊机机器人手眼标定径向畸变、切向畸变数值均较小,跟踪不同类型焊缝的最低偏差数值仅为0.01 mm,跟踪精度高。

In order to improve the welding accuracy of the welding robots,a high-precision tracking system for the robot welding seam with laser vision sensor is designed.The system hardware architecture consists of industrial cameras,laser sensors,welding robots,etc.,after obtaining the weld laser light source,it is transmitted to the laser image sensing layer.The laser image sensor is used to physically filter the weld laser light source image,and the industrial camera is used to take the weld laser image.Extract the laser image features of the welding seam,perform hand-eye calibration on the welding robot according to the position of its characteristic points,obtain the welding robot correction vector and input the vector into the welding seam tracking program in the robot motion control layer,and use the program to continuously correct the welding robot tracking behavior and send control tracking commands to the interface circuit motor driver to achieve high-precision tracking of robot welds.The experimental results show that the system has good starting performance,the radial distortion and tangential distortion of the robot hand-eye calibration of the welding machine are small,and the minimum deviation value for tracking different types of welds is only 0.01 mm,and the tracking accuracy is high.