CN105157603B - A kind of line laser sensor - Google Patents

A kind of line laser sensor Download PDF

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CN105157603B
CN105157603B CN201510458438.9A CN201510458438A CN105157603B CN 105157603 B CN105157603 B CN 105157603B CN 201510458438 A CN201510458438 A CN 201510458438A CN 105157603 B CN105157603 B CN 105157603B
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CN105157603A (en
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邹焱飚
龚国基
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a kind of line laser sensor, the three-dimensional coordinate of weld profile can be measured in real time, it is characterised in that the device includes line laser and module, image capture module and image procossing and control module three parts occur.Line laser occurs module and line laser mark, image capture module collection and output line laser labelling image is carried out to weld profile.Image procossing and control module receive line laser marked image data, it is strengthened, filtered, binaryzation, the image procossing such as feature extraction, extract the image feature data needed for calculating, the three-dimensional coordinate data of weld profile is calculated according to characteristic, so as to realize the target that three-dimensional measurement is carried out to weld profile.The present invention has the advantages that three-dimensional measurement precision up to arrives ± 0.1mm.

Description

A kind of line laser sensor
Technical field
The present invention relates to a kind of welding technique, more particularly to the calculating of a kind of line laser sensor and its three-dimensional coordinate data Method, the present invention are applied in automatic welding, implement contactless three to weld profile using laser vision e measurement technology Tie up the application field of measurement.
Background technology
Constantly expanding with the production scale of the industries such as automobile, machinery, the precision and efficiency to welding will be improved constantly also, High to worker's technical requirements but because the working environment of welding is severe, working strength is big, fewer and fewer people is ready to be engaged in manual welding This industry is connect, to meet manufacturing demand, automation and intellectuality are the inexorable trends of welding technique development.It is current from Dynamicization welding system is to be based on programmable playback robot's system mostly." teaching programming " refers to complete by following manner Into the establishment of program:By manually guiding end effector of robot (such as：Welding gun) come make robot complete it is expected act, " appoint Business program " instructs for one group of motion and miscellaneous function, to determine that operation is specifically expected by robot." reproduction " refer to robot by Programmed according to teaching and obtain task program, continuous repetition.The automatic welding technique of teaching playback formula, can be in strict accordance with regulation Kinematic parameter welding, there is the features such as control accuracy is high, and stability is good, and welding quality is high.But when workpiece size is larger, When complex-shaped and irregular or weld size precision is poor, teaching playback technology is difficult to be applicable.
To solve the above problems, laser vision e measurement technology can be used to carry out three-dimensional measurement to weld seam spy profile in real time, The offset deviation between characteristic point is calculated, welding control in real time is carried out using deviation butt welding machine device people.Laser vision measures Technology refer to by industrial camera will gather target workpiece carry laser labelling image, send image processing system to, according to The information such as pixel distribution and brightness, color, the geometrical relationship inside coupling apparatus, calculate the three-dimensional coordinate of measurement object.But It is that three-dimensional measurement is carried out to control certainly to weld profile by laser vision e measurement technology specifically for field of automatic welding Dynamicization welding jig carries out the sensor that automatic tracking welding connects and but has no appearance at home, real-time using laser vision e measurement technology Carrying out three-dimensional measurement to weld seam spy profile becomes technical problem urgently to be resolved hurrily.
The content of the invention
The shortcomings that primary and foremost purpose of the present invention is to overcome prior art and deficiency, there is provided a kind of line laser sensor, should Line laser sensor is a kind of industrial siding laser sensor towards automatic welding equipment, and a kind of based on laser vision survey The line laser sensor towards automatic welding equipment of amount technology, by this sensor, can obtain target weld profile in real time The three-dimensional coordinate of discrete point so that welding robot can detect characteristic point from weld profile discrete point, then before and after The three-dimensional coordinate deviation of the characteristic point detected determines the departure of position while welding, and welding robot is controlled finally by departure People is tracked welding, so as to realize automatic welding purpose.
The shortcomings that another object of the present invention is to overcome prior art and deficiency, there is provided one kind is applied to line laser and sensed The computational methods of the three-dimensional coordinate data of device.
The primary and foremost purpose of the present invention is achieved through the following technical solutions：A kind of line laser sensor, including：Line laser occurs Module, image capture module and image procossing and control module.
Module, which occurs, for line laser includes semiconductor laser generator and Bao Weier linear prisms.Semiconductor laser generator work( Rate is 30mW, the laser beam that the wavelength for producing enough brightness is 650nm.Bao Weier linear prisms are that high light transmittance combination is saturating Mirror, dispersion angle are 45 °.Laser beam forms line laser by Bao Weier linear prisms, and line laser is incident upon face of weld and formed Characterize the laser rays of weld profile feature.In welding surroundings, the arc light of tri- wave bands of 440-480,610-700,850-950nm Spectral intensity is most weak, it is seen that optical wavelength is longer to penetrate that flue dust ability is stronger, and the line laser of 650nm wavelength coordinates optical filtering can be effective Reduce arc light and flue dust interference.
Image capture module includes industrial camera, tight shot and optical filtering.Wherein, industrial camera uses German BASLER The ACA type CMOS black and white industrial cameras of company's production, resolution ratio is 1282x1026 pixels, and Pixel Dimensions horizontal direction is 5.3um, vertical direction 5.3um, there is stronger anti-electromagnetic interference capability；Tight shot is using Japanese COMPUTAR companies M0814 model Megapixel prime lens, focal length 8mm.Optical filtering diameter 30mm, centre wavelength 650nm, light transmittance 90%, cuts Only depth is (350nm-610nm＆690-1100nm)<0.1%, it can effectively reduce arc light and camera imaging is disturbed.
Image procossing and control module include control circuit, operating system and control system：
The formant of control circuit includes：The DM3730 dual core processors of American TI Company, processor integrate 1GHz's ARM CortexTMThe DSP core of-A8 kernels and 800Hz, there is powerful operational capability, image processing algorithm can be performed quickly； 32 DDR SDRAM of 512MB；16 NAND Flash of 512MB；Double gigabit level EPA interfaces；Touching display screen；Electricity Source；LED light etc..
Operating system is embedded real-time operating system, and operating system is used for management control circuit, there is provided basic user Interface, necessary service and corresponding interface are provided for the exploitation of control system.Windows of the operating system based on Microsoft The embedded real time systems of Embedded Compact 6.0, are cut again to system kernel according to the actual requirements.
Control system is used to manage the hardware resources such as camera, laser and performs image procossing, data analysis and calculating Etc. task.Control system is operated on embedded real time system, based on the platforms of Microsoft Visual Studio 2005 Exploitation.Control system architecture is divided into four levels, and first level is Drivers Library, is provided by each equipment supplier；Second Individual level is communication and monitoring programme, and the real-time communication that it is responsible between each module of application program monitors with operation；3rd layer Secondary is control program layer, and it is by IMAQ control module, image procossing control module, measuring and calculating module and man-machine interaction mould Four parts of block form, and it is the core of whole control system.4th layer is master control program layer, it by main control module and file with Data management module two parts form.Wherein, first, second, and third layer is real-time control module, and the 4th layer is coordinator, It is non-real-time control routine.
Four functions of modules in 3rd level are：
IMAQ control module：Frequency acquisition, the image chi of camera are controlled by the UDI of ACA type cameras The parameters such as very little and picture format；By the power of control voltage control line semiconductor laser generator so as to controlling laser brightness.
Image procossing control module：The module integrates some set image processing algorithm flows, for particular type weld seam figure As calling corresponding algorithm flow to handle it, the data needed for survey calculation are obtained.
Measuring and calculating module：The data from image processing module are received, it is discrete to calculate weld profile by these data The three-dimensional coordinate of point.
Human-computer interaction module：System parameter setting, real-time display image acquisition and processing can be provided by human-computer interaction interface Information, the operation such as the opening and closing of control and data preservation.
Another object of the present invention is achieved through the following technical solutions：A kind of three-dimensional coordinate applied to line laser sensor The computational methods of data, comprise the following steps：
(1) using 30mm x 30mm standard calibrations plate demarcation industrial camera, industrial camera intrinsic parameter and outer parameter are obtained.
(2) welding workpiece is positioned over work top, and industrial camera camera lens face weld seam is as shown in Figure 3 a.
(3) human-computer interaction interface sets welding type, industrial camera parameter and semiconductor laser generator parameter.
(4) IMAQ control module sets initialization camera and laser according to man-machine interface, and control industrial camera is opened Begin collection image.View data is transferred to control circuit by industrial camera by gigabit ethernet interface.
(5) image procossing control module writes data into the memory headroom specified after receiving the view data from camera, Then control DSP core is handled the view data in the memory headroom.Welding type, laser of the processing method according to setting The parameters such as power are different and otherwise varied, but generally comprise the operation such as enhancing, filtering, binaryzation, denoising, feature extraction.
(6) data needed for survey calculation have been obtained after image procossing.Measuring and calculating module is called, utilizes these data Calculate the three-dimensional coordinate of weld profile discrete point.
(7) 3 d measurement data is exported by Ethernet interface.
(8) human-computer interaction module is called, measurement result is shown in man-machine interface.
The present invention is had the following advantages that relative to prior art and beneficial effect:
Many fields such as automobile, engineering machinery and the container production of automatic welding equipment at home are progressively Applied.In the case where welding surroundings and welding requirements complexity continue to increase, the automatic welding skill of teaching type Art has been difficult to meet the production requirement in some fields.Weld profile three-dimensional coordinate is measured with true by laser vision technology in real time The precision measure for determining the exact trajectory of weld seam but has no that there is relevant apparatus appearance the country, and the present invention proposes according to this, by developing one Kind special measurement sensor, real-time three-dimensional measurement is carried out to the weld profile of welding workpiece, sends three-dimensional coordinate to bonding machine Device people or Automation of Welding equipment on other, automated arm carry out automation tracking welding according to weld seam three-dimensional coordinate in real time.
Brief description of the drawings
Fig. 1 is line laser sensor construction composition figure of the present invention towards automatic welding equipment；Wherein, 1 for output with Too network interface, 2 be LED light, and 3 be dual core processor, and 4 be DDR SDRAM, and 5 be power supply, and 6 be to input Ethernet interface, 7 It is NAND FLASH for touching display screen, 8,9 be that module occurs for line laser, and 10 be industrial camera, and 11 be tight shot, and 12 be filter Light microscopic, 13 be weld seam, and 14 be welding workpiece.
Fig. 2 is that the scheme of installation of module and image capture module occurs for the line laser of the present invention；In figure, 15 be that aluminium closes Golden frame.
Fig. 3 a are the schematic diagrames that the present invention carries out three-dimensional measurement to weld profile；Wherein, 16 be image capture module, including Industrial camera 10, tight shot 11 and optical filtering 12.
Fig. 3 b are the schematic diagrams of present invention measurement weld profile height coordinate.
Fig. 3 c are present invention measurement weld profile abscissa and the vertical schematic diagram sat.
Fig. 4 is the control system architecture figure of the present invention.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited In this.
Embodiment
As shown in figure 1, for the line laser sensor construction composition figure equipped towards automatic welding, sensor is by line laser Transmitter module 9, image capture module 16 and image procossing and control module composition：
The power 30mW of module 9 occurs for line laser, is made up of semiconductor laser generator and Bao Weier linear prisms, produces ripple Long 650nm Linear Laser；
It is straight that image capture module 16 includes ACA type CMOS black and white industrial camera 10, M0814 types tight shot 11 and 30mm Footpath optical filtering 12, for gathering image.
Image procossing and control module include control circuit, operating system and control system.
The formant of control circuit has：Export gigabit ethernet interface 1；LED light 2；TI companies of the U.S. DM3730 dual core processors 3, integrate 1GHz ARM CortexTM-A8 kernels and 800Hz DSP core；32 DDR of 512MB SDRAM 4；Power supply 5；Input gigabit ethernet interface 6；Touching display screen 7；16 NAND FLASG 8 of 512MB etc..
Windows Embedded Compact 6.0 embedded real-time operating system of the operating system based on Microsoft Customization.
Control system is operated on operating system, based on the platform developments of Microsoft Visual Studio 2005.
As shown in Fig. 2 module 9 and image capture module 16, two modules occur for a kind of line laser of line laser sensor In aluminium alloy frame 15.The camera lens face workpiece 14 of image capture module during measurement, line laser occur caused by module 9 Line laser projects the surface of weld seam 13 and forms one of laser rays 17, and image capture module 16 gathers the image transmitting of laser rays 17 to figure As processing and control module carry out image procossing and survey calculation.
As shown in Figure 3 a, it is three-dimensional measurement schematic diagram, line laser occurs module 9 and line laser is projected into the surface of weld seam 13, Form the laser rays 17 for characterizing weld profile feature together；Image capture module 16 gathers the image of laser rays 14 and is transferred to image Processing and control module；The image processing methods such as image procossing and control module are by strengthening, filtering, denoising and feature extraction, The discrete point that laser rays 17 is formed in image is extracted, then obtained using Measurement Algorithm three-dimensional corresponding to each discrete point Coordinate, here it is the three-dimensional coordinate of the profile point of weld seam 13.
As shown in Figure 3 b, the folder between the optical axis of line laser plane and industrial camera 10 caused by module 9 occurs for line laser Angle is θ, and intersection point O, O to tight shot photocentre plan range are H, and any of line laser projection on the surface of the workpiece is P, P Point is P ' in the picture of the imaging plane of industrial camera, and P and O vertical range are Δ h, the distance of imaging plane and photocentre interplanar For f, P ' to imaging plane u axles distance is v1, then point P to photocentre plane vertical range z1 is：
Obtain Fig. 3 b are horizontal positioned in Fig. 3 c, uo1V is the plane coordinate system of imaging plane, and P ' arrives the u axles of imaging plane Distance with v axles is respectively v1 and u1, and optical axis and the intersection point of photocentre plane are o2, with o2The three-dimensional measurement coordinate established for origin It is xyz, makes the xo of measuring coordinate system1Y plane overlaps with photocentre plane.Therefore P points in the z-axis coordinate of measuring coordinate system with regard to z1, It is respectively in the x-axis and y-axis coordinate x1 and y1 of measuring coordinate system with P points can be obtained according to geometrical relationship,
As shown in figure 4, the image procossing of line laser sensor and the control of control module towards automatic welding equipment The specific rate-determining steps of system are as follows：
(1) industrial camera 10 is demarcated with 30mm x 30mm standard calibrations plate, obtains inside and outside parameter and the guarantor of industrial camera Deposit；
(2) weld seam 13 of the camera lens face welding workpiece 14 of image capture module 16.
(3) type of weld seam 13, the parameter of industrial camera 10 and semiconductor laser are set in the man-machine interface of human-computer interaction module Generator parameter.
(4) IMAQ control module sets initialization industrial camera 10 and semiconductor laser, control according to man-machine interface Industrial camera 10 processed starts to gather image, and view data is transferred to image procossing control mould by inputting gigabit ethernet interface 6 Block.
(5) image procossing control module writes data into the memory headroom specified after receiving view data, then controls DSP The view data checked in the memory headroom is handled.Processing method is according to parameters such as the welding type of setting, laser powers It is different and otherwise varied, but generally comprise the operation such as enhancing, filtering, binaryzation, denoising, feature extraction.
Enhancing：Operation and subtraction are carried out out to original image f from structural elements b：I1=f-f ο b, obtained I1As The enhancing image of original image.
Binaryzation filters：From fixed threshold values K, to I1Binarization operation：
Feature extraction：From structural elements B to I2Carry out etching operation and subtraction：I3=I2-(I2ΘB)。 I3For laser The edge image of line, if edge image is (r, c with 2 points of a line side1) and (r, c2) then central point beThis is just It is the discrete point pixel coordinate to be extracted.
(6) obtained after image procossing the discrete point of laser rays 17 pixel coordinate data.Call measuring and calculating module, profit The three-dimensional coordinate of the profile discrete point of weld seam 13 corresponding to these data calculate laser rays 17.
M=Sxc-CxSx,
N=Syr-CySy,
Wherein, (x, y, z) is the three-dimensional coordinate of the profile discrete point of weld seam 13, and (r, c) is the image discrete point of laser rays 17 Pixel coordinate.(Sx,Sy,k,f,Cx,Cy, H, θ) be measurement apparatus inner parameter, be fixed value.
(7) communication module is called to export 3 d measurement data by exporting gigabit ethernet interface 1.
(8) human-computer interaction module is called, measurement result is shown in man-machine interface.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification, Equivalent substitute mode is should be, is included within protection scope of the present invention.

Claims (4)

  1. A kind of 1. line laser sensor, it is characterised in that including：Module, image capture module and image procossing occur for line laser And control module；
    Module, which occurs, for the line laser includes semiconductor laser generator and Bao Weier linear prisms；The semiconductor laser occurs Device produces the laser beam of specific wavelength, and the Bao Weier linear prisms change over laser beam the laser of brightness and even width Line；
    Described image acquisition module includes industrial camera, tight shot and optical filtering, the industrial camera and the tight shot, For gathering the view data of the laser rays, the optical filtering is used for the arc light of filter specific wavelengths scope；
    Described image processing and control module include control circuit, operating system and control system；The control circuit includes double Core processor and Ethernet interface；The control system includes the enhancing based on mathematical morphology, filtering, denoising, feature extraction Graphics processing unit and measuring unit based on principle of triangulation；
    The line laser occurs module and weld profile is marked, and described image acquisition module is labeled for gathering and exporting Weld profile view data, described image processing and control module be used for calculate and export three-dimensional coordinate data；
    The three-dimensional coordinate data calculating process of line laser sensor is as follows：
    (1) industrial camera is demarcated, obtains the inside and outside parameter (S of industrial camerax,Sy,k,f,Cx,Cy, H, θ), wherein, SxRepresent camera The line space of adjacent pixel, SyThe column pitch of adjacent pixel is represented, k represents amount of distortion, and f represents equivalent focal length, CxRepresent in image Heart row coordinate, CyPicture centre row coordinate is represented, H represents reference planes height, and θ represents laser plane and the folder of camera optical axis Angle；
    (2) welding workpiece is positioned over work top, the weld seam of welding workpiece described in industrial camera camera lens face, the line laser hair The surface that line laser caused by raw device is incident upon the weld seam forms laser rays；
    (3) the laser line image on industrial camera collection weld seam is controlled；
    (4) image procossing is carried out to collection gained image, extracts laser rays discrete point pixel coordinate data, described image processing bag Include image enhaucament, binaryzation filtering and feature extraction：
    Described image enhancing method be：Operation and subtraction are carried out out to original image f from structural elements b： Wherein,Operation is opened in expression；I1Represent the enhancing image of original image；
    The method of binaryzation filtering is：From fixed threshold values K, to I1Binarization operation：
    <mrow> <msub> <mi>I</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>r</mi> <mo>,</mo> <mi>c</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mn>0</mn> <mo>&amp;le;</mo> <msub> <mi>I</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>r</mi> <mo>,</mo> <mi>c</mi> <mo>)</mo> </mrow> <mo>&amp;le;</mo> <mi>K</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>255</mn> </mtd> <mtd> <mrow> <mi>K</mi> <mo>&lt;</mo> <msub> <mi>I</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>r</mi> <mo>,</mo> <mi>c</mi> <mo>)</mo> </mrow> <mo>&amp;le;</mo> <mn>255</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
    Wherein, I1(r, c) represents the gray value of enhancing picture point, I2(r, c) represents the gray value of binaryzation filtered image point, K Represent threshold values；
    The method of the feature extraction is：From structural elements B to I2Carry out etching operation and subtraction：
    I3=I2-(I2Θ B),
    Wherein, I3The edge image of laser rays after extracting is characterized, B is structural elements, and Θ represents etching operation, if with a line edge 2 points be (r1,c1) and (r1,c2) then central point beThe central point is then that the laser rays to be extracted is discrete The pixel coordinate of point, wherein, r1Represent row coordinate, c1、c2Represent row coordinate；
    (5) three-dimensional of weld profile discrete point is calculated by algorithm using the laser rays discrete point pixel coordinate (r, c) extracted Coordinate (x, y, z), its algorithmic formula are：
    <mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>x</mi> <mo>=</mo> <mfrac> <mrow> <mo>-</mo> <mi>m</mi> <mi>H</mi> <mi> </mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>f</mi> <mi>l</mi> <mi> </mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>+</mo> <mi>m</mi> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <mo>-</mo> <mi>n</mi> <mi>H</mi> <mi> </mi> <mi>tan</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>f</mi> <mi>l</mi> <mi> </mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&amp;theta;</mi> <mo>+</mo> <mi>m</mi> </mrow> </mfrac> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>z</mi> <mo>=</mo> <mfrac> <mrow> <mi>H</mi> <mi>f</mi> <mi>l</mi> <mi> </mi> <mi>tan</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>f</mi> <mi>l</mi> <mi> </mi> <mi>tan</mi> <mi>&amp;theta;</mi> <mo>+</mo> <mi>n</mi> </mrow> </mfrac> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
    In formula：
    M=Sxc-CxSx,
    N=Syr-CySy,
    <mrow> <mi>l</mi> <mo>=</mo> <msubsup> <mi>kC</mi> <mi>x</mi> <mn>2</mn> </msubsup> <msubsup> <mi>S</mi> <mi>x</mi> <mn>2</mn> </msubsup> <mo>-</mo> <mn>2</mn> <msub> <mi>kC</mi> <mi>x</mi> </msub> <msubsup> <mi>S</mi> <mi>x</mi> <mn>2</mn> </msubsup> <mi>c</mi> <mo>+</mo> <msubsup> <mi>kC</mi> <mi>y</mi> <mn>2</mn> </msubsup> <msubsup> <mi>S</mi> <mi>y</mi> <mn>2</mn> </msubsup> <mo>-</mo> <mn>2</mn> <msub> <mi>kC</mi> <mi>y</mi> </msub> <msubsup> <mi>S</mi> <mi>y</mi> <mn>2</mn> </msubsup> <mi>r</mi> <mo>+</mo> <msubsup> <mi>kS</mi> <mi>x</mi> <mn>2</mn> </msubsup> <msup> <mi>c</mi> <mn>2</mn> </msup> <mo>+</mo> <msubsup> <mi>kS</mi> <mi>y</mi> <mn>2</mn> </msubsup> <msup> <mi>r</mi> <mn>2</mn> </msup> <mo>+</mo> <mn>1</mn> <mo>,</mo> </mrow>
    Wherein, SxRepresent the line space of camera adjacent pixel, SyThe column pitch of adjacent pixel is represented, k represents amount of distortion, f expressions etc. Imitate focal length, CxRepresent picture centre row coordinate, CyPicture centre row coordinate is represented, H represents reference planes height, and θ represents that laser is put down Face and the angle of camera optical axis, r represent the row coordinate of image, and c represents the row coordinate of image, and x, y and z divide table measuring coordinate system Abscissa, ordinate and height coordinate.
  2. 2. line laser sensor according to claim 1, it is characterised in that：The power of the semiconductor laser generator is 30mW, the caused a length of 650nm of laser beam-wave；The Bao Weier prism fan angle is 45 °；The laser beam is used to pass through Bao Weier Linear prism forms line laser, and line laser is incident upon face of weld and forms the laser rays for characterizing weld profile feature together.
  3. 3. line laser sensor according to claim 1, it is characterised in that：The industrial camera is BASLER ACA types CMOS black and white industrial cameras, the industrial camera are used to resist strong electromagnetic, and the frame rate of the industrial camera reaches 60fps；The tight shot is COMPUTARM0814 model Megapixel prime lens, and the focal length of the tight shot is 8mm；The arc light that the wavelength that the optical filtering is used to filter 99% is 350nm-610nm and 690-1100nm；The industrial camera Gather welding workpiece on laser line image, and in real time by the Ethernet interface by view data be transferred to image procossing and Control module.
  4. 4. line laser sensor according to claim 1, it is characterised in that：The dual core processor is the ARM+ of TI companies DSP dual core processors, the Ethernet interface are giga industry Ethernet interface, the ARM nuclear control of the dual core processor with View data is write into very much the region of memory of DSP core management after network interface real-time reception view data；DSP core is directed to different type Weld seam specifically enhancing, filtering, binaryzation, denoising and feature extraction operation are carried out to image, acquisition laser rays discrete point Pixel coordinate data；ARM cores calculate corresponding weld profile discrete point according to the pixel coordinate data of the laser rays discrete point Three-dimensional coordinate data, output three-dimensional coordinate data simultaneously show measurement data in the man-machine interface of the control system, it is described Operating system is the embedded real-time operation based on the customization of the embedded real time systems of Windows Embedded Compact 6.0 System；The method that the control system calculated and exported three-dimensional coordinate data is：Image procossing and control module receive picture number According to and carry out image procossing and obtain the two-dimensional pixel coordinate of laser rays and then calculated by the two-dimensional pixel coordinate of the laser rays Three-dimensional coordinate data is obtained, finally exports the three-dimensional coordinate data.
CN201510458438.9A 2015-07-29 2015-07-29 A kind of line laser sensor Expired - Fee Related CN105157603B (en)

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