Systematic calibration method of welding robot guided by line structured light vision sensor

Abstract

The invention relates to a systematic calibration method of a welding robot guided by a line structured light vision sensor, which comprises the following steps: firstly, controlling a mechanical arm to change pose, obtaining a round target image through a camera, accomplishing the matching of the round target image and a world coordinate, and then obtaining an internal parameter matrix and an external parameter matrix RT of the camera; secondly, solving a line equation of a line laser bar by Hough transformation, and using the external parameter matrix RT obtained in the first step to obtain a plane equation of the plane of the line laser bar under a coordinate system of the camera; thirdly, calculating to obtain a transformation matrix of a tail end coordinate system of the mechanical arm and a base coordinate system of the mechanical arm by utilizing a quaternion method; and fourthly, calculating a coordinate value of a tail end point of a welding workpiece under the coordinate of the mechanical arm, and then calculating an offset value of the workpiece in the pose combined with the pose of the mechanical arm. The systematic calibration method of the welding robot guided by the line structured light vision sensor is flexible, simple and fast, and is high in precision and generality, good in stability and timeliness and small in calculation amount.

Description

technical field [0001] The present invention relates to a robot vision sensor and its calibration method, in particular to a welding robot system calibration method guided by a line structured light vision sensor, in particular to a robot based on the hand-eye relationship matrix and sensor parameters of the line structured light vision sensor Quick Calibration Method. Background technique [0002] Welding is characterized by complex process factors, high labor intensity, long production cycle, and poor working environment. Its quality depends on the operator's skills, technology and experience, and is also related to the operator's emotional and physical conditions. Therefore, welding automation technology is very important for improving joint quality. Quality and ensuring stability are of great significance. The key issue in realizing welding automation is the automatic tracking of weld seams. The intelligent welding robot guided by laser vision combines weld image recogn...

AI Technical Summary

Problems solved by technology

[0002] Welding is characterized by complex process factors, high labor intensity, long production cycle, and poor working environment. Its quality depends on the operator's skills, technology and experience, and is also related to the operator's emotional and physical conditions. Therefore, welding automation technology is very important for improving joint quality. Quality and ensuring stability are of great significance

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