摘要
弧焊机器人的主要工艺问题之一是需要保证零件焊接的一致性,当焊缝接头位置因工件加工、夹具装配以及热应力变形等因素发生变化时,需借助传感器实时准确引导机器人来确定焊缝位置。激光视觉传感赋予机器人"看"的功能,大大促进了焊接自动化程度。为此,以Panasonic-TA1400六自由度弧焊机器人为试验平台,针对V型坡口MAG焊焊缝视觉传感实时图像处理技术进行了研究。采用领域平均滤波和小波降噪相结合的方法,有效地滤除了焊接背景噪声。采用小波边缘检测算法获取了激光光带边缘。对焊缝图像处理的关键技术——中心线抽取和特征点检测提出了逐行搜索求平均值和模板匹配法等切实可行的算法。试验表明,该图像处理流程效果良好,能够满足后续跟踪系统实时性要求。
One of the main processes of robot arc welding is the consistency which needs to be maintained while making part after part.Movement of a weld seam can be the results of various processes,such as poor manufacturing and fixing or variations in the metal forming process.A standard robotic arc welding system does not have the ability to see the changes in the joint location.So an independent method of finding the location of the weld seam must be used to provide the robotic system with information to adjust the position of the weld path.Robot is given the look function by laser image sensing,which makes the automation of welding improved.Therefore,for V-type seam using MAG welding,the methodology of real-time image processing on vision sensing is studied based on Panasonic-TA1400 arc welding robot with six-degree of freedom.The noise was effectively filtered by means of the combination of filed averaging with wavelet transform.The edge of laser light band was kept in a better mode with wavelet transform.For the key technology in laser stripe extraction and characteristic point detection,the feasible method including the mean of the left and right boundaries and template matching is proposed.It shows that the image processing technology can get good effects and meet the real-time demands of the tracking system.
出处
《实验技术与管理》
CAS
北大核心
2012年第7期87-91,102,共6页
Experimental Technology and Management
基金
黑龙江省教育厅2010年度科学技术研究项目资助(11551069)
