基于双目视觉的水下对接焊缝跟踪机器人位姿调节  

Robot Pose Adjustment for Underwater Butt Weld Seam Tracking Based on Binocular Vision

作　　者：肖心远 石永华[2] 李怀俊[1] 

机构地区：[1]广东交通职业技术学院,广东广州510650 [2]华南理工大学机械与汽车学院,广东广州510640

出　　处：《热加工工艺》2018年第1期224-227,共4页Hot Working Technology

基　　金：广东省交通运输厅项目(2013-02-092);国家自然科学基金资助项目(50705030)

摘　　要：分析了机器人末端姿态调节原理,利用所搭建的双目视觉系统采集到水下对接焊缝图像,图像经过滤波去噪、模糊增强、图像边缘特征及检测后,获取两条边缘线的特征元素。根据这两条边缘线求出水下对接焊缝中心线,再找到中心线上的匹配点;根据匹配点前后扫描,得到与焊缝边缘线相交的四点,采用四点法求取水下对接焊机器人的末端位姿。最后根据所构造的焊枪位姿与机器人位姿的模型,得到焊枪的姿态。试验证明,本文提出的算法,位姿调节偏差较小,能满足水下对接焊缝跟踪的要求。The principle of the robot terminal pose adjustment was analyzed. The underwater butt weld image was collected by the binocular vision system, and after filtering denoising, fuzzy enhancement, image edge features and detection of the image, the characteristic elements of two edge lines were obtained. The center line of the underwater butt weld was obtained according to the two edge lines, then the matching point on the center line was found. According to the matching point, four points on the edge of welding seam were obtained, and the robot terminal pose of underwater butt welding was calculated by using four-point method. Finally, the gun pose was gotten according to the model of welding torch pose and robot pose. The experiments show that the proposed algorithm has small deviation of pose adjustment, and it can meet the requirements of underwater butt seam tracking.

关 键 词：双目视觉 水下焊缝跟踪 四点法 机器人 位姿调节 

分 类 号：TG409[金属学及工艺—焊接]