| Accurate and reliable weld seam tracking servo system is an important research topic in industrial automation field?The visual sensor system based on the structure of light three-dimensional measurement technology with its high precision and fast image processing and feedback ability,was most concerned among many tracking servo systems,with a wide range of applicability and strong reliability.However,most of the servo tracking servo systems on the market rely on imports and expensive,which the calibration process is cumbersome and complicated.Concerned in this case,we designed a tracking servo system based on structured light,which optimized the calibration procedure and real-time seam tracking with high precision.In this paper,the development of the seam tracking technology and 3D structure measurement technology is briefly introduced.Based on the principle of structured light stereo vision,the influence of the main parameters on the final tracking precision is analyzed.In this paper,we deeply studied and discussed the traditional camera model and parameter calibration technique and the structural light plane calibration technology and the robot hand-eye relationship matrix calibration technology are,and we proposed a calibration method based on the same world coordinate system template.The calibration technique provides a joint calibration that simplifies the calibration process and reduces error propagation.In addition,the visual servo mechanism of the robot is discussed in this paper,and a welding seam tracking strategy based on the feature point and the robot end position is designed to solve the problem that the welding seam is separated from the measuring space in the tracking process.The weld tracking servo system designed in this paper has a compact mechanical structure,excellent graphics processing capabilities,and accurate tracking process.Finally,this paper summarizes the shortcomings of the project,and prospects for the development of the research project. |
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