基于激光视觉引导的焊接机器人系统设计  

Design of Welding Robot System Based on Laser Vision

作　　者：王秀平[1,2] 白瑞林 

机构地区：[1]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122 [2]无锡科技职业学院,江苏无锡214028

出　　处：《煤炭技术》2014年第7期206-208,共3页Coal Technology

基　　金：江苏高校优势学科建设工程资助项目(PAPD);江苏省产学研前瞻性联合研究项目(BY2012056)

摘　　要：在工业机器人末端加装激光视觉传感器构成焊缝跟踪系统的硬件部分。对采集的焊缝图像经除噪声滤除、二值化、激光条纹中心直线提取,最终确定焊缝位置。根据机器人系统标定的结果实现激光视觉引导的焊缝自动跟踪。实验结果表明,该系统具有较好的跟踪精度,能够满足工业实际需求。A laser vision sensor was installed at the end of an industrial robot.Wavelet transform was used to filter image noise and improved Steger algorithm and Hough transform method was applied to extract the laser stripe center line.Finally,the position of welding seam was located.The automatic tracking system of weld seam was realized according to the robot system calibration results.The experimental results show that the system has good tracking accuracy,can meet the industrial requirement.

关 键 词：激光视觉 图像处理 焊缝跟踪 焊接机器人 

分 类 号：TP426[自动化与计算机技术] TG409[金属学及工艺—焊接]