基于三线激光结构光的船体大拼接焊缝交叉类型辨识

为实现船壁面的大拼接焊缝的全自主移动除锈,提出一种基于三线激光结构光的激光视觉焊缝辨识方法。针对船体大拼接焊缝的纵横交叉,根据三线激光的特征,对描述激光形态和激光条纹间距的5个变量进行定义,归纳3条激光条纹在焊缝交叉处的特征参量的变化规律,建立十字形、T字形焊缝交叉的统一辨识模型。试验验证:采用三线激光具有更好的抗干扰性、信息量丰富,在各种工况下都能准确辨识焊缝接头交叉类型。研究结果为后续的焊缝实时跟踪和轨迹规划奠定基础。

Identification of Hull Splice Weld Cross Type Based on Three-Line Laser Structure Light

In order to realize the fully independent mobile derusting of splice welds on the ship wall, a kind of laser vision weld identification method is proposed based on the three-line laser structure light. In view of the crisscross hull splice welds, according to the characteristics of three-line laser, five variables are defined characterizing the laser shape and laser stripe spacing, the change rules of characteristic parameters of three laser stripes at the weld intersections are summed up,and the unified identification model for the cross-shaped and T-shaped weld crosses is established. The experiment verifies that it is better in the anti-interference and more abundant in the amount of information to employ the three-line laser, and it can accurately identify the weld joint cross type under the various working conditions, which lays a foundation for the follow-up weld real-time tracking and trajectory planning.