Automatic calibration method for line structured light visual system of arc welding robot

Abstract

The invention discloses an automatic calibration method for a line structured optical visual system of an arc welding robot. The method comprises the steps of: 1, placing a calibration plate at any position in a working area of the robot according to a predetermined constraint limit; 2, manually manipulating the robot to ensure that the position of the calibration plate is in a rectangular frame in the middle of a collected image and updating the position component of each collection point in a robot calibration program on the basis; 3, collecting 15 calibration plate images in 15 positions and calibration plate images in other 4 positions and the corresponding laser stripe images; and 4, calculating internal parameters of a camera and hand-eye relationship parameters through the collectedprevious 15 images and calculating structured light plane parameters through the collected latter four images. The method disclosed by the invention has the advantages that image positioning is onlycarried out on the first collection position of the calibration plate and the subsequent positions are automatically updated through translation transformation with no need for human operation, so that the calibration method is convenient and quick, the flexibility and the rapidity are greatly increased and the method can meet the needs of actual production environments.

Description

technical field [0001] The invention relates to a line structured light vision system of an arc welding robot, in particular to an automatic calibration method for the line structured light vision system of an arc welding robot. Background technique [0002] Due to its non-contact characteristics, the line structured light vision sensor has high measurement accuracy and fast measurement speed, and is more widely used in industrial applications than contact sensing methods. In the application of seam tracking, the line structured light vision sensor is usually fixed on the welding torch of the robot to detect and automatically track the seam. [0003] The method of fixing the line-structured light vision sensor on the end of the arc welding robot is the eye in hand mode. The sensor moves with the robot. In order to unify the position detected by the sensor to the robot base coordinate system, it is necessary to carry out three steps on the vision system of the arc welding rob...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the disadvantages of relying on human operation, complex calibration process, and time-consuming calibration process in the existing calibration structured light vision system, the present invention proposes an automatic calibration method for a line structured light vision system for arc welding robots

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