弧焊机器人视觉测量控制系统

提出了一种基于结构光的弧焊机器人双目立体视觉测量控制系统。该系统硬件主要由结构光发射器、CCD摄像机、机器人、焊机以及通过局域网连接的两台控制计算机组成。从结构光照射形成的两幅图像中提取对应特征点,结合摄像机和激光器之间的几何位置关系,分别求取三组对应的特征点空间坐标,经过信息融合后得到特征点对应的空间位置。利用递推最小二乘法拟合焊缝的空间位置,根据一定的步长选取对应直线上的点传送到运动控制计算机以进行运动轨迹规划,并通过运动控制卡驱动机器人运动完成焊接任务。实验表明该系统性能较好。

Vision Measurement System of Welding Robot

A stereo-vision measurement system of welding robot based on structured light is presented. The system consists of structured-light emitter, two CCD cameras, a robot, welding machines and two computers connected through local area network. Abstract corresponding character points from two images formed by structured light. Considering the relations of geometrical position between cameras and the emitter, three corresponding space coordinates of character points can be solved. And corresponding space positions are obtained by information-fusion. The Welding line space position can be fitted by least mean square (LMS). According to steps of equivalent length, select three target points and send to the computer that executes path planning and controls the robot to move. The robot is driven to finish welding tasks by motion control card. The results show that this system has good performances.