基于机器人视觉的焊缝跟踪系统关键技术研究进展  

Research progress on key technologies of weld seam tracking system based on robot vision

作　　者：余卓尔 邓朝晖[1,2] 葛吉民 刘伟 李重阳[1,2] Yu Zhuoer;Deng Zhaohui;Ge Jimin;Liu Wei;Li Chongyang(Hunan Provincial Key Laboratory of High Efficiency and Precision Machining ofDifficult-to-Cut Material, Hunan University of Science and Technology, Hunan Xiangtan, 411201, China;Intelligent Manufacturing Institute, Hunan University ofScience and Technology, Hunan Xiangtan, 411201, China)

机构地区：[1]湖南科技大学难加工材料高效精密加工湖南省重点实验室,湖南湘潭411201 [2]湖南科技大学智能制造研究院,湖南湘潭411201

出　　处：《机械设计与制造工程》2021年第9期7-11,共5页Machine Design and Manufacturing Engineering

摘　　要：焊缝跟踪系统是实现机器人焊缝自动化磨抛的保障,焊缝跟踪的精度直接影响焊缝磨抛的质量。介绍了用于机器人焊缝跟踪系统中的摄像机标定技术、图像处理技术和结构光中心线提取技术的国内外研究现状,详细分析了其原理和特点以及各方法的优缺点,阐述了焊缝跟踪系统在机器人焊缝自动化磨抛中的应用。最后展望了焊缝跟踪技术未来的发展趋势。Weld tracking system is one of the key factors to realize robotic automatic welding seam grinding and polishing.The precision of seam tracking directly affects the final quality of welding seam grinding and polishing.This paper summarizes the research of camera calibration technology,image processing technology and structured light centerline extraction technology used in robotic welding seam tracking system at home and abroad.The principle and characteristics of the system and the advantages and disadvantages of each method are analyzed in detail.The application of seam tracking systems in robotic seam automatic grinding and polishing is described in detail.Finally,the development trend of seam tracking technology in the future is prospected.

关 键 词：焊缝跟踪系统 机器人 焊缝磨抛 相机标定 图像处理 中心线提取 

分 类 号：TN305.1[电子电信—物理电子学]