一种弧焊机器人熔池图像的快速标定方法

为了获得弧焊机器人焊接过程中熔池的几何尺寸,须在焊接过程中采用摄像机采集熔池图像,并完成系统的标定.将摄像机模型考虑为理想针孔透视模型,采用固定角度和高度对熔池图像进行采集,使标定模型参数缩减至8个,和传统标定方法相比,大大降低了计算量.采用同一平面4个目标点进行了系统标定和实验,理论和实际熔宽平均误差为0.031 mm,因此应用该方法对弧焊机器人熔池图像进行标定是可行的.

A Fast Calibration Method of Molten Pool Image from Arc Welding Robot

In order to gain the geometric size of molten pool during arc welding robot welding processes,the molten pool image should be acquired by camera and the calibration of system should be accomplished.Consider the camera model as an ideal pinpole model and the molten pool image is measured at a fixed angle and height which makes the number of calibration parameters decrease to 8.It takes less calculation compared to the previous calibration methods.The system is calibrated by four the object points from same horizontal plane.The result shows that the error between theory calculation and experimental molten pool width is 0.031 mm.So this method is feasible for calibration of arc welding robot molten pool image system.