基于激光单目视觉系统的焊缝提取

摘要

The vision system consists of monocular vision sensor of laser and ABB industrial robot. The camera is calibrated by calibration toolbox of Matlab with high precision. And robot hand-eye calibration is also finished. The welding seam images is captured by vision system, and the captured images are processed and analyzed. Subsequently,the feature points' image coordinate of welding seam are extracted. Then the feature points' world coordinate are also calculated by a simple arithmetic based on camera parameters, relationship of the eye-in-hand and characteris-tics of welding seam.According to the data, 3D model of the welding seam is reconstructed and basing on the data of weld center line,welding experiments is done. The result shows that this method can meet the preci-sion requirement.%将激光单目视觉传感器固定在ABB机器人上组成视觉系统,用Matlab标定工具箱实现了对摄像机参数的高精度标定,与机器人示教器结合对机器人进行了手眼标定;利用视觉系统采集焊缝图像,对获得的图像进行图像处理和特征分析,并提取计算机图像平面上焊缝特征点的图像坐标.根据摄像机内外参数、机器人的手眼关系以及焊缝的特点提出一种简便的方法将二维平面坐标转化为三维坐标,用Solidworks还原出焊缝的三维模型,提取焊缝中心线信息进行焊接实验,结果表明焊接精度满足实际要求.