Robot laser scanning welding seam tracking system calibration method

A tracking system, laser scanning technology, applied in the direction of instruments, image data processing, computing, etc.

Inactive Publication Date: 2016-02-03
CHINA JILIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies of the existing calibration methods, the present invention provides a calibration method for robot laser scanning welding seam tracking system

Method used

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  • Robot laser scanning welding seam tracking system calibration method
  • Robot laser scanning welding seam tracking system calibration method
  • Robot laser scanning welding seam tracking system calibration method

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0015] (1) Robot laser seam tracking system such as figure 1 as shown,

[0016] The robot laser scanning seam tracking system is mainly composed of a six-degree-of-freedom robot and a laser scanning seam tracking sensor, including a robot 1, a laser seam tracking sensor 2, a linear structured light 3 and a weld surface 4. The coordinate systems involved in this system are as follows:

[0017] In the figure, {R} is the basic coordinate system fixed to the robot base; {E} is the end coordinate system of the manipulator; {C} is the camera coordinate system.

[0018] (2) The hardware structure and working principle of the sensor

[0019] Such as figure 2 As shown, the laser scanning seam tracking sensor is composed of a laser 6, a filter 8, an industrial camera 5, a connector 7 and a splash guard 9 and the like. There is a hole on the top of ...

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Abstract

The invention discloses a robot laser scanning welding seam tracking system calibration method. A video camera in a sensor is calibrated based on a plane template firstly. The video camera is enabled to acquire at least three different positions by freely moving the sensor. The internal parameters of the video camera are solved according to the principle of least squares. Then image coordinates of an infinite point on a laser plane projected in the video camera are solved, and structured light is calibrated. Finally the calibrated sensor is fixed at the tail end of a manipulator via a flange plate. The same target point in space is detected by using the sensor through changing the attitude of a robot, and a conversion matrix of a video camera coordinate system and a manipulator tail end coordinate system is solved. A robot laser scanning welding seam tracking system acts as the object of study, and the parameters of the structured light are calibrated by adopting the video camera calibration method based on the plane template and the image coordinates of the infinite point on the laser plane projected in the video camera.

Description

technical field [0001] The invention relates to the calibration of a robot laser scanning seam tracking system, including the calibration of a laser scanning seam tracking sensor and the calibration of robot hands and eyes. Background technique [0002] The accurate tracking of the weld by the laser scanning seam tracking system depends on the calibration of the laser scanning seam tracking sensor and the robot hand-eye calibration. Sensor calibration includes camera calibration and structured cursor calibration, and the technology of camera calibration is relatively mature. For the calibration of laser structured light, the earliest methods used are tooth profile calibration method and wire drawing calibration method. These methods use specific calibration rakes to generate calibration points on the structured light plane, and use auxiliary measuring instruments to obtain their calibration points on the structured light plane. coordinate of. Both methods require sophistic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 宋亚勤张斌
Owner CHINA JILIANG UNIV
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