激光焊接头焊缝自动检测及跟踪研究  被引量:16

Weld Inspection and Tracking of Laser Welding Head

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作  者:马国栋 王延深[1] 史小田 范光华[3] 刘会英[1] Ma Guodong;Wang Yanshen;Shi Xiaotian;Fan Guanghua;Liu Huiying(Department of Mechanical Engineering,Harbin Institute of Technology at Weihai,Weihai,Shandong 264209,China;School of Astronautics,Harbin Institute of Technology,Harbin,Heilongjiang 150001,China;Department of Optoelectronics,Harbin Institute of Technology at Weihai,Weihai,Shandong 264209,China)

机构地区:[1]哈尔滨工业大学(威海)机械工程系,山东威海264209 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [3]哈尔滨工业大学(威海)光电科学系,山东威海264209

出  处:《激光与光电子学进展》2018年第11期376-382,共7页Laser & Optoelectronics Progress

摘  要:将激光焊接头与CCD视频跟踪模块集成在一起,提出一种采用一字线激光进行自动化焊缝检测的方法。该方法利用激光三角测量法,得到焊缝的高度、宽度等形状信息。在图像处理方面,对所获得的焊缝区域图像进行中值滤波和二值化处理,获得焊缝特征点二维坐标,实现目标定位,并计算其在世界坐标系下的三维坐标。在跟踪算法方面,采用精度高、速度快的核相关滤波器目标跟踪算法,分别对常见的直线型和曲线型焊缝位置进行跟踪。实验所得数据拟合曲线与焊缝形态误差在5%以内,吻合度较高,实时跟踪效果良好。The laser welding head is integrated with the CCD video tracking module, and a method for automatic seam detection based on a word line laser is proposed. This method uses laser triangulation to obtain the height, width, and other shape information of the weld. In the aspect of image processing, we perform median filtering and binarization on the obtained weld area image to obtain the two-dimensional coordinates of the weld feature points, achieve target position and calculate its three-dimensional coordinates in the world coordinate system. In the tracking algorithm, we use high accuracy and high speed kernel correlation filters target tracking algorithm to track the positions of common straight and curved welds. The verification experimental results show that the fitting curve and weld shape error are within 5 %, the degree of coincidence is high, and the real-time tracking effect is good.

关 键 词:机器视觉 激光焊接头 焊缝检测 激光三角测量法 图像处理 核相关滤波器跟踪算法 

分 类 号:O435[机械工程—光学工程]

 

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