The Large Workpiece Welding Binocular Vision Measurement And Accuracy Research

Large workpieces due to bulky, heavy, so that there are many shortcomings like high skill requirements of workers in the welding process, and low coefficient of safety at work, the labor intensity, low accuracy and so on. Welding robot with binocular vision system can solve these problems effectively.Firstly, research the theoretical basis of the imaging principle of binocular vision and binocular vision system calibration method, combined the theoretical analysis with the "camera calibration toolbox" which is written by Matlab, finish the binocular vision system calibration based on the calibration board image. Secondly, research the binocular vision measurement process, take the binocular vision calibration results and binocular vision measuring principle as base to program "binocular vision measurement" user interface, so that can get the three-dimensional coordinates of the points in space easily, because the welding position of large parts sometimes is not in the view field of binocular visual, the program of "Large workpieces welding vision measurement and detection" can measure the welding position according to the point coordinates which is in the field of view and detect the position deviation, then complete the welding work accurately. Finally, analysis the impact of the binocular vision system’s structural parameters and measurement accuracy, then simulate the curve of the relationship between the structural parameters and measurement error, to find the optimum geometrical parameters range, and verify the right of the theoretical analysis by experiment.