Method for obtaining three-dimensional coordinates of light bar center based on binocular line structured light in welding detection

Abstract

The invention provides a method for obtaining three-dimensional coordinates of a light bar center based on binocular line structured light in welding detection. The method comprises the steps of (1) building a binocular line structured light visual sensing system, (2) calibrating the binocular line structured light visual sensing system, (3) obtaining images with structural light stripes at the same time during welding by using calibrated binocular line structured light device, (4) mapping pixel coordinates of pixels with non-zero grayscale values in two images to a plane in a three-dimensional space and selecting a light plane or an imaging plane of one camera, (5) judging whether a point is a noise point or a point in a light strip through three-dimensional coordinate points of the pixels in the two images in the same plane in a space coordinate system, and (6) obtaining a pose relationship between a camera and a robot end by hand-eye calibration, and mapping the coordinate valuesof a center line on the light plane to a robot coordinate system to obtain the surface shape of a weld seam in robot coordinates. According to the method, the visual inspection of welding is more accurate.

Description

technical field [0001] The invention relates to a method for extracting the three-dimensional coordinates of the light bar center based on the binocular line structured light in the real-time detection of robot automatic welding, especially for the extraction of the three-dimensional coordinates of the center line of the line structured light under the interference of arc light, spatter and reflection during welding. Background technique [0002] Welding is an important material forming and processing technology in the field of contemporary manufacturing, and it has been widely used in industrial manufacturing fields such as construction engineering, aerospace, machinery manufacturing, and electronics. The development of welding and related industries is of great significance to my country's transformation from a manufacturing power to a manufacturing power. In welding, the shortcomings of manual welding are mainly manifested in the high labor intensity of welders, and the s...

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Problems solved by technology

[0007] In order to overcome the shortcomings of existing robot welding that welding interference affects visual inspection and cannot accurately and effectively obtain three-dimensional size information on the weld surface, the prese

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