基于激光扫描数据的超声扫查路径规划方法
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摘要
将超声检测与机器人技术相结合的自动检测技术已经成为无损检测领域的重要发展方向。焊缝的超声自动检测需要快速、准确定位超声检测仪在焊缝轨迹上的位置。针对UR机器人和激光扫描测头组成的3D扫描系统,提出了一种基于激光扫描数据的超声扫查路径规划方法。首先实现机器人编码器与激光测头数据的同步采集,采用D-H建模将局部坐标系下的扫描数据转化至全局坐标系;然后研究并实现了一种基于线扫描数据的焊后焊缝边缘点的提取算法,根据提取到的焊缝边缘点进行超声扫查路径规划,并根据扫描数据计算机器人末端位姿,控制机器人运动,实现了基于焊缝三维扫描数据的焊缝缺陷超声检测。
The combination of non-destructive testing technology and robotic technology has becoming an important development direction of non-destructive testing.In the process of automatic testing,it was necessary to quickly and accurately locate the position of the ultrasonic detector on the weld trajectory.A path planning method based on laser scanning data for ultrasonic scanning was presented for a 3 Dscanning system composed of an UR robot and a 3 Dlaser probe.Firstly,synchronous data acquisition of the robot encoders and the laser probe was realized,and D-H modeling was adopted to transform the scanned data from the local coordinate system to the global coordinate system.Then,a method of extracting the boundary points of the welded seam from the scanned line data was studied and realized.The path of ultrasonic scanning was planned according to the extracted boundary points,and the orientation of the end of the arm was computed.Therefore,the movement of the robot can be controlled and the welding defect can be detected with ultrasonic scanning based on the 3 D scanned data of the welded seam.
The combination of non-destructive testing technology and robotic technology has becoming an important development direction of non-destructive testing.In the process of automatic testing,it was necessary to quickly and accurately locate the position of the ultrasonic detector on the weld trajectory.A path planning method based on laser scanning data for ultrasonic scanning was presented for a 3 Dscanning system composed of an UR robot and a 3 Dlaser probe.Firstly,synchronous data acquisition of the robot encoders and the laser probe was realized,and D-H modeling was adopted to transform the scanned data from the local coordinate system to the global coordinate system.Then,a method of extracting the boundary points of the welded seam from the scanned line data was studied and realized.The path of ultrasonic scanning was planned according to the extracted boundary points,and the orientation of the end of the arm was computed.Therefore,the movement of the robot can be controlled and the welding defect can be detected with ultrasonic scanning based on the 3 D scanned data of the welded seam.
引文
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[5]Li Y,Li Y F,Wang Q L,et al.Measurement and defect detection of the weld bead based on online vision inspection[J].IEEE Transactions on Instrumentation&Measurement,2010,59(7):1841-1849.
[6]熊有伦.机器人技术基础[M].武汉:华中科技大学出版社,1996.
[7]Liu D,Wang T.Algorithm combined analytical and numerical solutions for robot inverse kinematics[J].Journal of Beijing University of Aeronautics&Astronautics,2007,33(6):727-730.
[8]Siciliano B,Sciavicco L,Villani L,et al.Robotics:modelling,planning and control[M].Springer,2009.
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[10]蔡自兴.机器人学[M].北京:清华大学出版社,2000.