Study on Robotic Seam Tracking of Laser Scanning System

摘要

A kind of laser scanning weld seam tracking system is studied. The calibration method for the system parameters is presented and the recognition method for the seam characteristic point is given based on digital image processing. Firstly, preprocess the laser image using median filter method, adaptive threshold method and isolated point filter method and find the seam characteristic point using the digital morphological method. Then, accomplish the parameter calibration of the structured light according to laser plane infinity point projection in the camera obtained by moving the sensor with the target of a set of parallel lines. Finally, Change the position of the robot to detect fixed target and solve the robot hand-eye matrix. The calibration process of the sensor is convenient and the precision is reliable. U weld seam on the spatial free-form surface can be measured by the sensor.