测试技术学报Issue(3)：255-263,9.DOI:10.3969/j.issn.1671-7449.2014.03.013
线激光扫略的白车身装配特征机器人在线检测技术研究
Laser Scanning Sensor for Robotic Online Inspection of Body-in-White Assembly Features
摘要
Abstract
A robotic body-in-white online inspection system based on stripe laser scanning is researched and developed for online inspection of body-in-white assembly features and quality control of body-in-white weld-ing dimensions .First ,the measurement principle of a swing type stripe laser monocular vision sensor as well as the calibration methods for sensor parameters and swing motion are proposed .Then ,the laser point cloud extraction algorithm and the position parameters calculation method of the features such as holes ,slots and cylinders are presented based on the analysis of figures collected by sensor .Eventually ,the system was manu-factured and employed in engineering applications .Verified by application ,the system can detect the body-in-w hite features quickly ,precisely and stable .关键词
白车身/在线检测/激光扫描/视觉测量/装配特征Key words
body-in-w hite/online inspection/laser scanning/vision measurement/assembly feature分类
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李凌旻,尚校,李靖,习俊通..线激光扫略的白车身装配特征机器人在线检测技术研究[J].测试技术学报,2014,(3):255-263,9.基金项目
国家科技支撑计划资助课题 （）
