基于局部视觉的弧焊机器人自主焊缝轨迹规划

Autonomous seam tracking based on local vision in arc robotic welding

关键词:  图像处理  弧焊机器人  焊缝轨迹规划  局部视觉

Key words:  image processing  arc welding robot  autonomous seam tracking  local vision

摘要:

提出了一种基于视觉的弧焊机器人自主焊缝轨迹规划方法。通过使用CCD摄像机,不断地获取枪尖前方一小段焊缝的图像。由主控计算机进行图像处理,获取枪尖与焊缝间的偏差以及这小段焊缝的走向等信息。根据这些信息控制机器人沿焊缝前进,同时定时记录用焊缝偏差值修正后机器人坐标值,生成焊缝在机器人基坐标系下的坐标。当机器人沿焊缝走完一遍后,主控计算机控制机器人回到焊缝起点,开始沿焊缝焊接。用此方法对低碳钢曲线焊缝和铝合金曲线焊缝进行试验,结果表明该方法具有很高的实用价值。

Abstract:

A method of autonomous seam tracking in arc robotic welding was presented.It could make the robot get rid of traditional teaching and playing back mode and automatically acquired the special coordinates of welding seam.The master computer continuously processed local area images in front of the torch in the images,which were acquired by a CCD camera,to measure the deviation between the torch and the seam and the orientation of the seam.At the same time,the computer controlled the robot to make the torch move forward along the seam and recorded the seam's coordinates in the robotic basic reference frame,which were corrected by the deviations.After the torch arrives at the endpoint of the seam,the computer controlled the robot to move the torch to the first record coordinate and begin to weld.Experiments were made on the curves seam workpieces of mild steel and aluminum alloy work pieces.The result showed that this method has good practicability.