摘要 车窗智能粘接生产线以三维扫描技术作为数据采集及安装精度控制的手段。该三维扫描技术是以三维激光扫描仪对一种球体采用“六点标定法”得到球体的三维点云及三维激光扫描仪坐标与机器人坐标系的关系。用这种方法标定机器人与扫描仪的相互位置关系时扫描仪不仅是标定工具,还是被标定对象。该标定方法简化了旋转关系与平移关系的解耦过程,提高了系统精度和稳定性。试验结果表明该技术应用于车窗智能粘接进而实现了装配过程中定位、虚拟装配以及在线校准,车窗模型与车窗工件三维点云间的匹配误差为0.573;车体模型与车体三维点云间的匹配误差为1.052,安装精度及稳定性均符合工程化需求。 Three-dimensional scanning technology is used as a means of data acquisition and installation precision control for window bonding.By using a“six-point calibration method”on a sphere,obtain the 3D point cloud data and the relationship between the coordinates of the 3D laser scanner and the robot coordinate system.Using this method to calibrate the mutual position between the robot and the scanner,the scanner is not only a calibration tool,but also a calibration object.This calibration method simplifies the decoupling process between rotation and translation,and improves the accuracy and stability of the system.The experimental results show that the technology can be applied to realize positioning,virtual assembly and on-line calibration during assembly process.The matching error between the window model and the 3D point cloud of the window is 0.573;The matching error between car body model and 3D point cloud is 1.052.Its installation accuracy and stability meet the requirements of engineering.
出处 《自动化与仪表》 2021年第4期40-45,62,共7页 Automation & Instrumentation
基金 国家重点研发计划先进轨道交通重点专项(2016YFB1200403)。
关键词 三维激光扫描技术 高速动车组 车窗安装 坐标系标定 虚拟装配 3D scanning technology high-speed EMU window installation the calibration of coordinate system virtual assembly
