典型接头的机器人视觉传感图像处理技术  

Image Processing of Robotic Vision Sensing for Typical Joints

作　　者：段宏伟[1] 兰虎[1] 郑红艳[1] 菅晓霞[1] 

机构地区：[1]哈尔滨理工大学荣成学院,山东荣成264300

出　　处：《哈尔滨理工大学学报》2012年第4期52-56,共5页Journal of Harbin University of Science and Technology

基　　金：黑龙江省教育厅2010年度科学技术研究项目(11551069)

摘　　要：针对国内现有的弧焊机器人视觉传感图像处理系统通用性、鲁棒性差而无法满足实际焊接过程焊缝跟踪需要的现状,以Panasonic-TA1400六自由度弧焊机器人为试验平台,构建了典型接头机器人视觉传感硬件系统,并基于LabVIEW语言开发了视觉传感通用图像处理系统.运用二维小波变换技术对典型接头焊缝图像进行了降噪和边缘检测处理,既有效滤掉了背景噪声,又基本完整地保留了激光光带的边缘.而在激光光带中心线抽取和焊缝特征点检测方面,采用了逐行(列)快速搜索和逆序快速查找数组最大值方法,简单有效,同时兼顾了精确度和速度要求.试验表明,整个图像处理方法效果良好,能够满足后续跟踪系统实时性要求.According to the domestic situation that the existing image processing systems of arc welding robot vision sensing, with poor generality and robustness, cannot meet the need of seam tracking in actual welding process, the hardware system of robot vision sensing for typical joints was established based on Panasonic-TA1400 arc welding robot with six-degree of freedom. The general image processing system for vision sensing was developed by using LabVIEW. The two-dimensional wavelet transform was adopted to images of the typical weld joints for noise reduction and edge detection, both effectively filtering out background noise, and almost completely retaining the edge of the laser light band. For the key technology in laser stripe extraction and characteristic point detection, simple and effective methods including the fast search row （column） one by one and the reverse quickly finding array maximum were proposed, which pay attention to the precision and speed requirements. The results show that the image processing technology can get good effect and meet the real-time demands of the tracking system.

关 键 词：小波变换 焊接机器人 视觉传感 图像处理 焊缝跟踪 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TG409[自动化与计算机技术—控制科学与工程]