高强钢薄钢板焊缝高精度视觉跟踪控制  

High-precision visual tracking control of seam for high strength steel sheet welding robot

作　　者：刘卫朋[1] 陈海永[1] 刘坤[1] 孙鹤旭[1] 

机构地区：[1]河北工业大学控制科学与工程学院,天津300130

出　　处：《电焊机》2014年第8期66-71,共6页Electric Welding Machine

基　　金：国家自然科学基金资助项目(61203275);河北省自然科学基金项目(F2014202071);河北省高等学校科学技术研究项目(YQ2013036);河北省首批青年拔尖人才支持计划

摘　　要：针对薄钢板焊缝焊接机器人,提出一类高精度、柔性的视觉跟踪控制方法,以实现窄焊缝的在线实时感知和视觉控制。提出了一种抗干扰能力强的焊缝图像处理方案,实现窄焊缝特征的可靠提取和通信传输。提出了一种基于图像的闭环视觉控制方法,开发了视觉控制器及其执行系统,实现了焊接机器人焊缝轨迹的实时高精度跟踪。实验结果表明,该视觉控制方法对弧光、烟雾、飞溅和外界照明变化具有很强的鲁棒性,可以精确地识别出焊缝特征坐标,快速地实现焊枪对焊缝的跟踪,达到了期望的控制精度和焊接质量,结果令人满意。An accurate and flexible narrow seam visual tracking control method for steel sheet welding robot is proposed to realize the real-time perception and online visual control for the narrow seam. Firstly, a weld image processing scheme is proposed to reduce the strong disturbances. Then the reliable narrow seam features extraction and communications transmission are completed. Secondly, all image-based closed-loop control method and control system is presented. The accurate narrow seam tracking of the welding robot is realized under the guide of the vision system. Finally, some experimental results show that the visual control method and system are robust to some disturbances, such as arc, smoke, splash and lighting change. Moreover, the seam can be accurately recognized and quickly tracked. The desired control accuracy and welding quality are reached, and the welding quality is satisfying.

关 键 词：窄焊缝 焊接机器人 视觉控制 焊缝跟踪 

分 类 号：TG409[金属学及工艺—焊接]