CAJ | 학술논문

针对波纹板-箱梁T型接头角焊缝位置的激光双目视觉检测，提出了一种变步长角点检测算法，即先建立波纹板角焊缝位置的双目视觉测量模型，根据激光条纹投射在角焊缝上的成像特征进行图像预处理，然后设计变步长搜索算法先找到激光条纹上的近角点，于近角点两侧选取激光条纹上的像素点构造两条直线，由直线的交点来确定角点．试验结果表明，用该方法测量角焊缝位置坐标，可靠性高，测量误差范围在0.1 mm以内，角焊缝轨迹三维重建误差在1 mm以内，测量精度优于传统算法．
침대파문판-상량T형접두각한봉위치적격광쌍목시각검측，제출료일충변보장각점검측산법，즉선건립파문판각한봉위치적쌍목시각측량모형，근거격광조문투사재각한봉상적성상특정진행도상예처리，연후설계변보장수색산법선조도격광조문상적근각점，우근각점량측선취격광조문상적상소점구조량조직선，유직선적교점래학정각점．시험결과표명，용해방법측량각한봉위치좌표，가고성고，측량오차범위재0.1 mm이내，각한봉궤적삼유중건오차재1 mm이내，측량정도우우전통산법．
Proposed in this paper is a variable-step corner detection algorithm for the laser binocular vision detec-tion of fillet weld position of the T-type joint between corrugated plate and box girder. In this algorithm,a binocular vision detection model of fillet weld position is established and an image preprocessing is performed for the laser stripe images according to the imaging characteristics of the stripe projected on the fillet weld. Then,a variable-step searching algorithm is developed to find the near-corner point in the laser stripe,and several pixels at both sides of the near-corner point are selected to construct two straight lines. Finally,the corner point of the fillet weld is determined according to the intersection point of the two constructed lines. Experimental results show that the proposed algorithm is superior to those traditional ones due to its high reliability,low detection error (less than 0.1 mm)and low 3D trajectory reconstruction error of fillet weld (less than 1mm).