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Systematic calibration method of welding robot guided by line structured light vision sensor

A welding robot, vision sensor technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of poor labor environment, complex process factors, high labor intensity, etc.

Active Publication Date: 2012-11-28
JIANGNAN UNIV +1
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Problems solved by technology

[0002] Welding is characterized by complex process factors, high labor intensity, long production cycle, and poor working environment. Its quality depends on the operator's skills, technology and experience, and is also related to the operator's emotional and physical conditions. Therefore, welding automation technology is very important for improving joint quality. Quality and ensuring stability are of great significance

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  • Systematic calibration method of welding robot guided by line structured light vision sensor
  • Systematic calibration method of welding robot guided by line structured light vision sensor
  • Systematic calibration method of welding robot guided by line structured light vision sensor

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Embodiment Construction

[0053] The purpose of the present invention is to overcome the shortcomings of the traditional line laser light plane equation and hand-eye calibration conditions, such as harsh conditions and cumbersome calibration steps, and propose a flexible, high-precision, fast-speed, good stability, strong real-time performance, simple method, and small amount of calculation. , Universal calibration method.

[0054] The present invention will be further described below in conjunction with drawings and embodiments.

[0055] The present invention utilizes as image 3 The circular target shown can realize the rapid positioning of the center of the circle, and automatically match the world coordinates and pixel coordinates of the feature points of the circle center, which is conducive to the automation of camera internal parameter calibration; analyze the mathematical model of the linear structured light-guided manipulator tracking system, and introduce four The element method solves the h...

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Abstract

The invention relates to a systematic calibration method of a welding robot guided by a line structured light vision sensor, which comprises the following steps: firstly, controlling a mechanical arm to change pose, obtaining a round target image through a camera, accomplishing the matching of the round target image and a world coordinate, and then obtaining an internal parameter matrix and an external parameter matrix RT of the camera; secondly, solving a line equation of a line laser bar by Hough transformation, and using the external parameter matrix RT obtained in the first step to obtain a plane equation of the plane of the line laser bar under a coordinate system of the camera; thirdly, calculating to obtain a transformation matrix of a tail end coordinate system of the mechanical arm and a base coordinate system of the mechanical arm by utilizing a quaternion method; and fourthly, calculating a coordinate value of a tail end point of a welding workpiece under the coordinate of the mechanical arm, and then calculating an offset value of the workpiece in the pose combined with the pose of the mechanical arm. The systematic calibration method of the welding robot guided by the line structured light vision sensor is flexible, simple and fast, and is high in precision and generality, good in stability and timeliness and small in calculation amount.

Description

technical field [0001] The present invention relates to a robot vision sensor and its calibration method, in particular to a welding robot system calibration method guided by a line structured light vision sensor, in particular to a robot based on the hand-eye relationship matrix and sensor parameters of the line structured light vision sensor Quick Calibration Method. Background technique [0002] Welding is characterized by complex process factors, high labor intensity, long production cycle, and poor working environment. Its quality depends on the operator's skills, technology and experience, and is also related to the operator's emotional and physical conditions. Therefore, welding automation technology is very important for improving joint quality. Quality and ensuring stability are of great significance. The key issue in realizing welding automation is the automatic tracking of weld seams. The intelligent welding robot guided by laser vision combines weld image recogn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J13/08B25J19/02B23K37/00
Inventor 白瑞林李龙吉峰郭新年
Owner JIANGNAN UNIV
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