基于轮式小车的焊缝视觉信息的获取与跟踪  

Welding Vision Information Acquisition and Tracking with Welding Wheel

作　　者：马国红[1] 秦佳[1] 姜芙蓉[1] 汪鎏[1] 

机构地区：[1]南昌大学机电工程学院,南昌330031

出　　处：《上海交通大学学报》2010年第S1期8-10,共3页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金项目(50705041)

摘　　要：针对铝合金自动焊接,采用基于视觉的方式,探讨了适合双目视觉传感器的焊缝图像处理与跟踪方法;搭建了基于轮式行走小车的焊缝跟踪与控制平台,开发出一套切合系统的软件跟踪控制策略与软件平台;提出机器指令生成方法,开展基于铝合金对接焊缝非起弧跟踪实验.实验结果表明:跟踪效果良好,能够达到焊枪预期的位置和姿态,为后期小车系统起弧焊接与控制奠定了基础.Aimed at solving welding seam tracking in al-alloy auto welding a vision tracking method and welding image process were designed;a welding tracking and control platform on mobile wheel was built and a suitable tracking control policy and software platform was developed;Furthermore,a method of generating machine order was designed.Al-alloy butter plate welding experiment proved that the welding torch could track the seam tracking well and could reach the expected place and posture precisely,providing bases for future welding and controlling of wheel.

关 键 词：图像处理 焊缝跟踪 双目视觉 

分 类 号：TG409[金属学及工艺—焊接]