摘要
设计了一种新型圆形扫描结构光传感器,可在待焊工件表面形成圆形激光轨迹。阐述了该传感系统的三维测量原理,并分别对摄像机和结构光进行了标定,获得摄像机的内外参数和结构光锥面在摄像机坐标系下的方程。分别采集了对接焊缝、角接焊缝、搭接焊缝、V形坡口焊缝的图像,经过一系列的图像处理过程获得具有明显焊缝特征的二值细化图像。根据焊缝特征可以识别焊缝,得到焊缝特征点的三维空间坐标。
A new scanning circular laser vision sensor is designed.When the laser is projected on the weld,a light circularity is formed.The principle of 3D measure is stated,and camera calibration and structural light calibration are done.The parameters of camera and equation of structural light under camera reference frame are gained.The pictures of various welds under structural light are collected.By the characteristic of weld after image processing,welds can be identified and the coordinates of characteristic spot can be obtained.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2006年第4期53-56,共4页
Transactions of The China Welding Institution
基金
国际科技合作重点项目(2004DFA02400)
上海市科学技术委员会科研计划项目(036105001)
关键词
圆形结构光
结构光标定
焊缝检测
circular scanning laser
calibration
seam detecting
