电焊机2026，Vol.56Issue(2)：48-55,8.DOI:10.7512/j.issn.1001-2303.2026.02.05
基于线激光3D相机视觉引导客车踏板自动化焊接系统研究
Research on Automated Welding System for Bus Pedal Based on Line Laser 3D Camera Vision Guidance
摘要
Abstract
Currently,the welding of bus pedals in China is predominantly manual,with low automation levels.Developing an automated welding system for bus pedals holds practical significance for achieving intelligent manufacturing.This study designs a line laser 3D camera based on the principle of direct laser triangulation.An optimized Steger algorithm for light strip center extraction is proposed.Calibration of the 3D camera's internal parameters,distortion parameters,and laser plane parameters was completed,and its scanning accuracy was verified using a standard ceramic ball gauge.An automated weld-ing system,consisting of a self-developed line laser 3D camera,an ABB robot,a welding power supply,and a welding torch,was constructed.Hand-eye calibration was performed.A weld seam path planning method for bus pedals,encompassing point cloud processing,contour corner point extraction,weld seam coordinate matching,and welding posture planning,was designed.Finally,automated welding tests were conducted on actual bus pedals,and weld quality was evaluated via electro-magnetic non-destructive testing.The optimized Steger algorithm achieved a laser centerline extraction time of 0.6 s,outper-forming the traditional algorithm's 1.3 s.The self-developed 3D camera demonstrated a scanning accuracy of 0.2 mm,with maximum errors in sphericity and spatial distance measurement being 0.3195 mm and 0.3257 mm,respectively.The success rate of bus pedal welding using the developed system reached 87.5%,with well-formed welds.The research indicates that this automated welding system can achieve automated welding of bus pedals,meeting production requirements and provid-ing a technical reference for the automated welding of similar components.关键词
客车踏板/线激光3D相机/自动化焊接/视觉引导/焊缝路径规划Key words
bus pedal/line laser 3D camera/automated welding/vision guidance/weld seam path planning分类
矿业与冶金引用本文复制引用
孙超,费大奎,李荣,王子然,尤勇,刘厚涛,谷森..基于线激光3D相机视觉引导客车踏板自动化焊接系统研究[J].电焊机,2026,56(2):48-55,8.基金项目
常州市科技计划应用基础研究专项一般项目,智能制造龙城实验室资助(CJ20242058) （CJ20242058）
