摘要
为实现焊接机器人焊枪定位与焊缝走向识别,提高焊缝跟踪精度,提出了一种交叉式双条纹激光传感方式,建立了该传感方式下双条纹激光间距与焊枪高度关系的理论模型.按图像行上灰度值和的一阶导数提取感兴趣区域(region of interest,ROI)、最大类间方差阈值分割及Canny边界提取等处理后,获得了上下激光条纹中心间距离及坡口中心值,由理论模型计算得焊枪高度,上下坡口中心值获得焊缝精确偏差与焊缝轨迹走向.结果表明,建立的理论模型正确,该方法可快速实现焊枪准确定位,识别焊缝轨迹走向,减小导前误差,提高偏差识别精度和焊接机器人智能化程度.
To detect the welding torch position,recognize the seam orientation and improve the accuracy of seam tracking in robot welding,an intercrossing two stripes laser vision sensing was put forward,and a theoretical model of the welding torch height using the sensor was set up. Through extracting region of interest( ROI) in accordance with the image line derivative,making Otsu threshold segmentation and extracting Canny boundary,the distance between the up and down laser stripes and the central position of groove were obtained. The height of welding torch were obtained by the theoretical model of the welding torch height,and the weld accurate deviation and the welding seam trajectory direction was obtained by the up and down laser stripes and the central position of groove. The results show that,the theoretical model of welding torch height is correct,and the method can quickly realize the welding torch positioning and improve the accuracy of welding seam deviation recognition. Meanwhile it can also identify the welding seam trajectory direction,reduce prepositive errors and improve the intelligent level of welding robot.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2015年第2期35-38,114-115,共6页
Transactions of The China Welding Institution
基金
国家自然科学基金资助项目(51265036
51365036)
关键词
双线激光视觉传感
焊枪定位
焊缝走向识别
图像处理
移动焊接机器人
two stripes laser vision sensing
welding torch positioning
seam orientation deviation
image processing
mobile welding robot
