结构光视觉传感器误差分析与结构分析

结构光视觉传感器是视觉焊缝跟踪系统获得焊缝信息的重要组成部分,其测量误差与性能对焊缝跟踪系统的总体测量精度及可靠性有着直接影响。本文对应用于焊缝跟踪的结构光视觉传感器进行误差分析,包括传感器硬件系统结构误差、激光散斑噪声误差及镜头畸变误差等,并对不同结构方式下的视觉传感器建立了数学模型,具体分析了结构参数对其误差的影响,提出结构光视觉焊缝跟踪传感器优化设计方法,并依据仿真结果给出结构优化设计参数,最后通过实验验证了该优化设计方法的正确性。

Structured-light visual sensor used to obtain images of weld seam plays an important role in seam tracking system.Its measurement error and performance have a direct effect on the measurement accuracy and reliability of the seam tracking system.The errors of the structured-light visual sensor are analyzed in this paper,which include structural error of the hardware,speckle error and lens distortion error.The perspective transformation models of the sensors with different structures are established in order to discuss the influence of the geometric parameters on the sensor errors.And then an optimum design method is proposed and the reasonable geometric parameters are obtained according to the simulation results.Additionally,experiment results prove the correctness of the proposed method.