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首页> 外文会议>International Conference on Mechanical, Automotive and Materials Engineering >Laser Sensor Weld Beads Recognition and Reconstruction for Rail Weld Beads Grinding Robot
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Laser Sensor Weld Beads Recognition and Reconstruction for Rail Weld Beads Grinding Robot

机译：轨道焊缝磨削机器人的激光传感器焊缝识别与改造

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With the development of high-speed railway and robotics, there's a strict standard for rail weld beads grinding, and the processing of grinding implemented by robots instead of human beings performs much more efficient and more accurate. Due to the complexity of the rail weld beads, the difficulty is the acquirement of the shape of the rail weld beads. In order to solve these problems, this paper proposed a method to measure and reconstruct the model of the rail weld beads. First, the kinematic model for the robot is established; then, the end-effectors of the robot and the laser sensor are calibrated according to a series measurement of a fixed point with different poses; finally, the model of the rail weld beads reconstructed from the point cloud is ensured. A grinding experiment is provided to verify the effectiveness of this approach.
机译：随着高速铁路和机器人技术的发展，对轨道焊缝打磨有了严格的标准，并且由机器人而不是人类执行的磨削处理将更加高效和准确。由于轨道焊道的复杂性，困难在于获得轨道焊道的形状。为了解决这些问题，本文提出了一种测量和重建钢轨焊道模型的方法。首先，建立机器人的运动学模型；然后，根据对不同姿势的固定点的一系列测量，对机器人的末端执行器和激光传感器进行校准。最后，确定了从点云重构的钢轨焊道模型。提供了一个研磨实验来验证这种方法的有效性。

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