基于手眼立体视觉的弧焊机器人平面工件定位系统

1,2,1(1.,150001;2.,200030):,,;,,,;,;:;;;:TP242.3:A:0253-360X(2003)04-09-050,,,,,,,,,,,,,,,,,,,,,:2002-12-30:(59635160,59575057)CCD,,,11,6HRGH-43,CCD,,,;,,,,31Fig.1Systemblockdiagram24420038TRANSACTIONSOFTHECHINAWELDINGINSTITUTIONVol.24No.4August2003©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.22.1,,,22Fig.2Flowchartofimageprocessing(1),,,(2),,,,,,,(ik,jk),k=1,2,,n,n8(3)RHT(Randomhoughtransform)[1],(4)(3)4,42.2,,3,(x0y0z0);(x6y6z6);(xcyczc);(xy)(xy)(xcyczc),,(xy)(xcyczc)[2],,,[3]3Fig.3Transformationrelationofcoordinates(xy)(xcyczc),zcxy1=sx0cx0sycy0011+kR2d0001+kR2d0001f0000f000010xcyczc,(1)zcxy1=M1M2Fxcyczc1,(2):sxsyxy;cxcy;k;f;Rd,;(xy);(xcyczc),(xcyczc)(x0y0z0)0124©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.xcyczc1=T6Hx0y0z01,(3):(x0y0z0);T6,;H,(3)(2)zcxy1=M1M2FT6Hx0y0z01=Mx0y0z01,(4):M,340.5mm,44Fig.4Errorcurves2.3,(4),,,,(4),55Fig.5PrincipleofstereomatchingP,o1zcx1y11=M1xpypzp1,(5)o2zcx2y21=M2xpypzp1,(6):(x1y1)(x2y2)P;(xpypzp)P;M1M2o1o2,(4)MM1M234,(5)(6)4,P3,6,,2.1747ab,7cde7aRTH,7b,4114,:©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.6Fig.6Arcweldingrobotandpositioner7Fig.7Resultsofimageprocessing2.3,8a,,8b8Fig.8Positionofworkpieceinbasalcoordinateofrobot,4,,4,,,,311.5mm,1x,y,zTable1Errorsofx-axis,y-axis,z-axis(Unit:mm)HorizontalOverturnTruevalueMeasuredvalueErrorTruevalueMeasuredvalueErrorx-axis125.9609127.14941.1885119.7561120.36040.6043y-axis-981.6037-982.48040.8767-983.2763-982.48040.7859z-axis515.7440514.83080.9132503.1524502.53090.6215[16]2124©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.4Ag-TiAg-Cu-TiFig.4Atomicdistributionin(a)Ag-Tiand(b)Ag-Cu-TisolutionsM,Cu-MCu-TiM-Ti,TiCuM,TiCu,Ti,Ti,MTi,M,Ti,CuAg4(1)Ag-Cu-TiTiCu,TiCuTiAgTiTi(2)Ag-Cu-Ti,AgTi,CuTiAgCuAgTiCuTi15.80kJ/mol32.83kJ/mol-16.14kJ/mol:[1]NakamuraM,ShigematsuI.Joiningofcarbonfiber2reinforcedsili2connitridecompositeswith72Ag-26Cu-2-Tifillermetal[J].J.Mater.Sci.,1996,31:46294634.[2]HaoHQ,WangYL,JinZH,etal.JoiningofzirconiaceramictostainlesssteelandtoitselfusingAg57Cu38Ti5fillermetal[J].J.Am.Ceram.Soc.,1995,78(8):21572160.[3].-[D].:,2001.[4].[M].:,1992.[5].[M].:,1989.[6]PaulastoM,KivilahtiJ.MetallurgicalreactionscontrollingthebrazingofAl2O3withAg-Cu-TiFillerAlloys[J].J.Mater.Res.,1998,13(2):343352.:,,19631,,,2,20Email:[e-mail][12],4,,,,,,,,,:[1]XuL,OjaE,KultanceP.Anewcurvedetectionmethod:random2izedHoughtransform[J].PatternRecognitionLetter,1990,11(5):331338.[2]TsalRY.Aversatilecameracalibrationtechniqueforhigh-accu2racy3Dmachinevisionmetrologyusingoff-the-shelfTVcam2eraandlenses[J].IEEEJournalofR&A,1987,3(4):323343.[3],,.[J].(Sup),2002,36(12):114117.:,,1971,,7E2mail:[e-mail]6124©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.ToSubscribeandAdvertiseAreWelcomeTRANSACTIONSOFTHECHINAWELDINGINSTITUTION(TCWI)wasstartedin1980.Thisperiodical(Bimonthly)issponsoredbyChineseMechanicalEngineeringSociety.Itistobedistributedbothathomeandabroad.ItmainlyreportstherecentscientificandtechnologicalacToSubscribeandAdvertiseAreWelcomeTRANSACTIONSOFTHECHINAWELDINGINSTITUTION(TCWI)wasstartedin1980.Thisperiodical(Bimonthly)issponsoredbyChineseMechanicalEngineeringSociety.Itistobedistributedbothathomeandabroad.Itmainlyreportstherecentscientificandtechnologicalac:ChinaInter2nationalBookTradingCorporationP.O.Box399,Beijing,ChinaCode:BM322MAINTOPICS,ABSTRACTS&KEYWORDSMulti2informationfusionofdroplettransferinpulsedGMAWPANCun2hai,LIHuan,LIJun2yue,YANGYun2qing,XUEHai2tao(TianjinUniversity,Tianjin300072,China).p14Abstract:ElectricandspectralinformationofdroplettransferinpulsedGMAWarecollectedbyusingpickingsystem,theimageofdroplettransferisalsoquasi2synchronouslyshotbyhigh2speedcamera.Thereisexplicitcharacteristicofcorrespondencereflectingthedroplettransferamongtheelectric,spectralandimageinformationbasedontimeinformationfusion.Thereinto,thevariationofspectralinformationisthegreatestwhenthetransferappearsanditcanreach47%ofthetotalin2tensity.Alloftheneckingdown,dropletgrowingupandfallingapartduringdroplettransferofpulsedGMAWprocesscanbefoundinspectralinformation.Further,DFT(DiscreteFourierTransform)analysisshowsthattheelectricandspectralfrequencyinformationandthedroplettransferfrequencyalsomatcheswell.Keywords:gasmetalarcwelding;droplettransfer;informationfusion;spectralinformation;electricinformation;imageinformationResearchonsmalltypeofspectrumsensorofdroplettransferYANGYun2qiang1,PENGTao1,LIJun2yue2,ZHANGXiao2qi1(1.ZhuzhouInstituteofTechnology,HunanZhuzhou412008,China;2.TianjinUniversity,Tianjin300072,China).p58Abstract:Spectruminformationisthebestsingletorespectthedroplettransferdiscoveredbyfar,butthesystembasedonspectrographcannotapplytotestweldingdropletonline.Guidedbythethoughtofspectrumsensingdroplettransfer,asmalltypeofspectrumsensorofdroplettransferisdevelopedinthispaper.Theideaofthedesignandtheoryexploreonthepracticesystemisintroducedindetail,alsothepracticestructureofthesensorisgiveout.Thesensorworkedwellonlinecontrol.Keywords:droplettransfer;spectrum;online;se