焊接机器人中智能视觉的研究

自同步的激光扫描机被集成在一个小型的装置中,将其安装在关节式机器人的手腕上。为了改善光三角测量特性,用最新的固体激光器和CCD传感器技术组合成这种新式的摄象机结构。在焊接过程中,摄象机能对焊接工件进行三维测量,且使机器人弧焊过程最优化,在大电流弧焊期间也能以高精度实时进行焊缝和焊接几何形状的分析。它提供了关于弧前方的焊缝几何形状(例如:焊缝跟踪)和焊区后方(例如:完成的焊缝检查)的信息。提供了闭环自适应焊接的两个信息。视觉系统能被用来产生三维物体数据,这些数据同计算机图象系统连在一起,能够组成实时系统乃至专家系统。

A Research on the Intelligent Vision for Welding Robot

An autosynchronized laser scanning mechanism is integrated in a compact, mobile unit mounted on a articulated robot wrist. This camera combines a new geometrical arrangement for improving the performance of optical triangulation with the latest solid-state laser and CCD sensor technology. The camera enables in-process 3D measurements of the welded workpiece and the optimization of the robotic arc welding process. Joint and weld geometry analysis can be peroformed in real time with high precision, even during high current arc welding. This provides information about weld joint geometry in front of the arc (e. g. scam tracking ) and behind the weld pool (e. g. inspection of finished welds) , both of which are required for closed loop adaptive welding. The vision system can be used for the generation of 3D object data, which can be used in conjunction with a computer graphics system for real time and expert welding system.