基于三线激光的除锈爬壁机器人焊缝实时辨识方法  

Weld Real-time Recognition Method For Derusting Wall Climbing Robot Based on Three Laser Lines

作　　者：陈易新[1,2] 张轲 CHEN Yixin;ZHANG Ke(Shanghai Key Laboratory of Materials Laser Processing and Modification,Shanghai Jiao Tong University,Shanghai 200240,China;Collaborative Innovation Center for Advanced Ship and Deep-sea Exploration,Shanghai 200240,China)

机构地区：[1]上海交通大学上海市激光制造与材料改性重点实验室,上海200240 [2]高新船舶与深海开发装备协同创新中心,上海200240

出　　处：《热加工工艺》2019年第1期178-182,共5页Hot Working Technology

基　　金：国防基础科研计划资助项目(A0720132003);国家自然科学基金资助项目(51775338)

摘　　要：为实现船体焊缝除锈自动化,提出了一种基于三线激光的船体除锈爬壁机器人焊缝中心线提取方法。搭载视觉传感器的爬壁机器人在除锈过程中使用三条平行线激光扫描焊件表面并获取实时图像,通过图像卷积、二值化、细化等算法得到激光条纹骨架。利用中值滤波和链码特征排除法去除骨架中的干扰点,对骨架进行分段拟合,提取焊缝特征点并确定焊缝中心线。实验表明:系统可有效检测出焊缝中心的位置,为除锈爬壁机器人的焊缝跟踪奠定基础。A weld center line extracting method for ship hull derusting wall climbing robot based on three laser lines was proposed to achieve automation of the derusting process of ship hulls. A wall climbing robot equipped with the vision sensor scans the weldment with three parallel laser lines to obtain the real-time image during the derusting process. Laser stripe skeletons were obtained by the algorithms of image convolution, binaryzation and thinning, etc. The noisy points were eliminated by median filtering and chain code characteristic exclusion method, piecewise fitting of the skeleton was carried out,the feature points of weld were extracted and the center line of the weld was determied. The experiments show that the system is capable of detecting the center line of the weld, which lays foundation for weld tracking of derusting wall climbing robots.

关 键 词：三线激光 船体除锈 爬壁机器人 焊缝跟踪 

分 类 号：TG409[金属学及工艺—焊接]