双线结构光焊缝跟踪传感器的焊枪高度识别

摘要

Welding torch height recognition has important practical value for welding torch location and light gauge welding which is easy to change character when be heated. Basic principle of height recognition of double line structured-light sensor is analyzed, the formula between height and laser stripe spacing without consider distortion is obtained. But it is proved too large when the formula is directly used. The marker search method is proposed. The experiment proves this mothed is accurate,and can meet the requirement of application.%焊枪高度识别对焊枪定位、受热易变性的薄板焊接有很重要的实用价值,分析了双线结构光传感器的高度识别基本原理,在不考虑畸变的情况下得到了高度与两结构光条纹间距之间的关系公式.但直接使用公式获得的高度误差较大,于是提出了标记搜索法.实验证明:此方法得到的高度识别精确度高,能达到使用要求.