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针对集装箱薄钢板对接焊,提出一种新颖的焊接机器人起始点识别和焊枪精确对中焊缝起始点的视觉控制方法.首先提出一种迭代圆形霍夫变换方法,自动确定了包含焊枪特征点的圆形感兴趣区域,第2次迭代可实现焊枪特征点的识别和提取,具有鲁棒性和快速性的优点.接着使用直线霍夫变换方法实现了焊缝直线的识别和焊缝特征点的提取,进而设计了基于图像空间的焊缝起始点视觉控制方案,实现了焊缝起始点的精确定位控制.实验结果表明,提出的方法具有很好的鲁棒性,能够精确地识别出焊枪和焊缝特征坐标.视觉控制法能够快速地将焊枪定位到焊缝起始点位置.集装箱厂现场焊接测试也证实了这些方法的有效性,得到了满意的结果.
Aiming at the container butt welding of steel plate, a novel method of visual recognition of starting point of welding robot and accurate starting of welding gun is proposed.At first, an iterative circular Hough transform method is proposed, , The second iteration can realize the recognition and extraction of welding torch feature points, which has the advantages of robustness and rapidity.Secondly, using the straight line Huff transform method to realize the recognition of weld line and the feature point of weld Then the visual control scheme based on the image space is established and the precise control of the starting point of the weld is realized.The experimental results show that the proposed method has good robustness and can accurately identify the welding torch And the characteristic coordinates of the weld.The visual control method can quickly position the welding torch to the starting point of the weld.The site welding test of the container factory also confirms the effectiveness of these methods and achieves satisfactory results.