基于结构光立体视觉的焊缝测量

提出了一种基于结构光立体视觉的焊缝测量方法，并给出了一种简单的摄像机与激光器标定方法。它采用安装在机器人末端的两台摄像机和一只激光器构成测量系统，激光器发出的光束经平凸柱面镜变成光平面，在焊件上形成条纹。两台摄像机同步采集该条纹图像，结合机器人末端位姿与摄像机参数，对于条纹上的每个特征点可以获得三组空间坐标。对这三组坐标进行信息融合，可以更加精确的获得特征点的空间坐标。进行的V形焊缝测量与跟踪试验表明，该方法具有实时性好、测量精度较高、标定简单、可靠性高等特点。

Automated measurement of weld seam based on structured light stereovision

A method of weld seam measurement based on structured light stereovision is proposed, which employs two charge coupled device cameras and a laser emitter fitted on the end-effector of the robot. A piano-convex cylinder lens is utilized to convert the laser beam to plane, to forms a stripe on the welding works. Two frames of stripe image are captured by the cameras synchronously. Through the position and pose of the end-effector with the parameters of the cameras and the plane, which can be obtained easily using a simple calibration method provided in this paper, three groups of position values in Cartesian space for each point in the stripe can be derived. Then the accurate three-dimension position of the edge points in the weld seam can be obtained from them by using information fusion algorithm. An experiment that V type weld seam is measured and tracked automatically is successfully conducted.