弧焊机器人焊缝的实时图象处理  

Real-time image processing for seam tracking control in robotic welding

作　　者：陈强[1] 郑德禄 JensDoerk 

机构地区：[1]清华大学机械工程系,北京100084 [2]德国Aachen大学

出　　处：《清华大学学报（自然科学版）》1996年第4期99-104,共6页Journal of Tsinghua University(Science and Technology)

摘　　要：提出了一种在机器人电弧焊过程中进行轨迹跟踪的实时图象处理方法。焊缝图象由ＣＣＤ摄像系统摄取。通过图象采集系统和计算机软件处理，得到机器人的运动轨迹与实际焊缝之间的偏差，据此控制机器人运动进行实时跟踪。对于Ｖ型坡口和搭接接头，其可靠性达９７％以上。如果用多台摄像机同时处理焊缝图象，则可以检测出焊缝的三维信息。本算法的轨迹跟踪精度为 ０． ４ ｍｍ。可用于机器人运动轨迹的自动规划。An approach of image processing for robotic welding with seam tracking control in the real time is presented. The seam image was picked up by CCD (Charge Coupled Device) camera, and then it was sampled and processed in a host computer with some special algorithms. The soft ware will calculate out the diviation between the welding line and the wire tip which is driven by the robot finger. As a result the computer will instruct the control circuit through an interface to adjust the trajectory of the robot movement in the real time. The experiments showed the tracking precision of the system was less than 0. 4 mm for the practical works.

关 键 词：机器人 焊接 图象处理 弧焊机器人 焊缝 

分 类 号：TG409[金属学及工艺—焊接]