基于双色光源视觉的标准焊接工件搜寻与焊缝定位
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摘要
近年来,机器人焊接在越来越多的领域替代了人工焊接,并逐渐向着带有感知的智能化方向发展。形状、尺寸一致的标准化工件的焊接,如筋板、连接件、冲压件、铸件等的焊接是焊接结构中常遇到的焊接问题,这类工件的特点是尺寸较小、形状一致且带有一些几何特征。针对该类工件开发了一套基于双色光源视觉的机器人焊接定位系统,图像处理算法采用焊接工件的初步定位和焊缝的精确定位两个步骤来实现,双色光源有效提高了识别目标与背景之间的区分度,分步图像处理算法提高了定位算法的可靠性。
In recent years,robot welding has replaced artificial welding in more and more fields,and robotic welding has been gradually moving towards the intelligent direction with perception.Welding of standardized workpieces of uniform shape and size,such as tendons,fittings,stampings,castings,etc.,is a type of welding problem frequently encountered in welding constructions.This type of workpiece is characterized by its small size,uniform shape and some geometric features.This paper develops a set of robotic welding positioning system based on two-color light source vision for this kind of workpieces.The image processing algorithm uses two steps of the initial positioning of the welding workpiece and the precise positioning of the welding seam.The two-color light source effectively improves the discrimination between the target and the background,step-by-step image processing algorithm improves the reliability of positioning algorithm.
In recent years,robot welding has replaced artificial welding in more and more fields,and robotic welding has been gradually moving towards the intelligent direction with perception.Welding of standardized workpieces of uniform shape and size,such as tendons,fittings,stampings,castings,etc.,is a type of welding problem frequently encountered in welding constructions.This type of workpiece is characterized by its small size,uniform shape and some geometric features.This paper develops a set of robotic welding positioning system based on two-color light source vision for this kind of workpieces.The image processing algorithm uses two steps of the initial positioning of the welding workpiece and the precise positioning of the welding seam.The two-color light source effectively improves the discrimination between the target and the background,step-by-step image processing algorithm improves the reliability of positioning algorithm.
引文
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[7]吴佳艺.基于机器视觉的农林环境导航路径生成算法研究[D].杭州:浙江工业大学,2009.
[2]陈善本,林涛.智能化焊接机器人技术[M].北京:机械工业出版社,2006.
[3]董晓雨.机器人焊接工装的即插即用控制技术的研究[D].上海:上海交通大学,2008:6.
[4]Qian B F,Ma X P.Automatic control of the electric cross sliding welding based on VC++[J].Applied Mechanics&Materials,2014(666):179-183.
[5]Ambroza P,Bockus S,Kavaliauskiene L.Formation of build-up layers microstructure by arc automatic overlay welding using secondary raw material powders[J].Archives of Metallurgy and Materials,2013,58(2):549-553.
[6]阳军军.基于激光视觉的焊缝定位系统开发[D].深圳:深圳大学,2016:22-34.
[7]吴佳艺.基于机器视觉的农林环境导航路径生成算法研究[D].杭州:浙江工业大学,2009.