基于极线约束与激光标识的空间焊缝的立体视觉检测
Stereovision-based detection of 3-D weld seam using epipolar line constraint and laser stripe indication
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摘要: 针对安装在焊接机器人末端的双目立体视觉系统,建立了左右图像坐标的极线约束方程.采用极线约束和激光标识相结合的立体视觉匹配方法,完成了相交圆管马鞍形空间焊缝的立体视觉检测.结果表明,含激光条纹的焊缝图像,经细化、去毛刺处理后,可以得到分段光滑的曲线,通过曲线奇变点检测与曲线-极线相交点检测两种方法的融合,实现了空间焊缝检测点在左右图像中的可靠匹配,从而提高了焊缝及周边结构立体视觉检测的准确性.对检测的马鞍形焊缝及周边圆管的三维数据进行了重建,与实际结构尺寸比较误差小,满足一般机器人自动焊接过程中的焊缝检测要求。Abstract: An epipolar line constraint equation is established for a binocolar stereovision system mounted at the end-effector of welding robot.The stereovision correspondence technique based on the combination of epipolar line constraint with laser stripe indication is applied to detect the position of a three-dimensional(3-D) saddle-shaped weld seam which is produced by the intersection of two circular pipes.The experimental results show that the smooth segments of laser stripe in the weld seam image can be obtained using thinning and deburring arithmetics, and the stereovision correspondences between pairs of points at the left and the right images can be dependably realized by detecting both the singular points of laser stripe curvature and the intersecting points of laser stripe with epipolar line, thus, the detection accuracy to the 3-D weld seam and its adjacent area can be improved.The geometrical shape of the 3-D weld seam is reconstructed from the 3-D data acquired by stereovision-based detection with less errors compared with its actual dimension, therefore the proposed method can satisfy the detection reqirment of 3-D weld seam in automatic robot welding system.
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