Research On Key Technologies Of Three-dimensional Weld Inspection Based On Linear Structured Light

With the development of industrial modernization,a large number of new testing technologies have begun to pour into the field of industrial testing,while visual testing technology has become an indispensable part of it due to its fast speed,large amount of information,and many functions.Applying visual detection technology in welding work can make it have higher accuracy and stronger environmental adaptability.However Comprehensive and difficult to meet some industrial projects with higher accuracy requirements.Therefore,the three-dimensional detection technology of structural light came into being.Based on its non-contact and real-time characteristics,the technology is widely detected in the shape detection and surface defect detection of welds.application.This article studies the key technologies of welding seams based on line structure light.The main research content is:Through the derivation of the principles of the two triangular measurement methods,the advantages and disadvantages of the two methods and its applicable environment are determined,and the appropriate detection method is selected according to the actual project background.Finally,the selection of the hardware and welding in the three-dimensional detection system based on the principle of the three-dimensional detection system is finally completed.Design of sewing three-dimensional detection overall scheme.Drive the camera model principle and obtain the transformation relationship between the image coordinate system,camera coordinate system,and world coordinate system in the camera model.Use a flat target to calibrate the camera,to participate in the internal ginseng matrix outside the camera by calibrating the camera,and determine the accuracy of the camera calibration after testing.It proposes a method of welding robotic hand-eye calibration method based on Karman filter,because Carman filtering has the characteristics of repairing blur images.In the text,the method is optimized to optimize the data in the welding robot’s eye calibration process,and the method is completed in conjunction with this method to complete the method.Welding robot’s hand-eye calibration,finally verified the feasibility of this method and the accuracy of the hand-eye calibration through welding experiments.A algorithm of the combination of the structure of the structure of the light stripe through the combination of the threshold method,the Sobel operator,and the skeleton refinement method,and verify the accuracy and extraction speed of the method through the structural optical stripe extraction experiment.After studying the principle of non-variability and vector fork multiplication,a method of solving the structure of the light and plane of the structure of the structure of the structure of the light and plane of the structure of the three structural light bars is proposed.The characteristics of the number of iterations and high accuracy are completed.Through this method,the calibration of structural light plane is completed,and the feasibility of the method and the accuracy of the structured light plane calibration are verified by detecting the standard parts.A three-dimensional detection experimental platform for light welded seams was built,and the process of thorough welds was designed.The three-dimensional data obtained by the Vshaped weld scanning experiment and the point cloud visual software were completed.reconstruction.Finally,after analysis of the three-dimensional data of the weld,the accuracy of the three-dimensional detection method used in this article and the detection error of the threedimensional size of the welded seams were obtained.