基于机器视觉的弧焊机器人焊缝识别及路径生成研究  

Research on recognition of welding line and path generation of arc welding robot based on machine vision

作　　者：刘东来 崔亚飞 罗辉[1] 邓子林[1] LIU Donglai;CUI Yafei;LUO Hui;DENG Zilin(School of Intelligent Manufacturing and Architectural Engineering,Yongzhou Vocational and Technical College,Yongzhou 425100,CHN)

机构地区：[1]永州职业技术学院智能制造与建筑工程学院,湖南永州425100

出　　处：《制造技术与机床》2021年第12期26-32,共7页Manufacturing Technology & Machine Tool

基　　金：湖南省教育厅科学研究项目(20C1868)。

摘　　要：针对传统弧焊机器人复杂焊缝轨迹识别及自主规划不足,智能化和自动化水平不高的问题,将机器视觉引入弧焊机器人系统,提出一种焊缝轨迹识别及路径生成算法。首先,工控机通过相机采集焊接对象图像,并进行图像灰度化、直方图均衡化和阀值分割等图像预处理操作;其次,通过Canny算子从预处理后图像中提取出焊缝像素边缘线,并设计了一种焊缝中心线提取算法;最后,提出一种自适应多项式焊缝曲线拟合算法,并通过坐标转换模型把拟合曲线的像素坐标转换成机器人坐标,发送坐标数据给弧焊机器人。实验结果表明,改进的弧焊机器人系统可自主识别复杂的焊缝轨迹并生成焊接路径,引导弧焊机器人完成焊接作业,最大误差值不超过0.30 mm,满足焊接精度要求,具有一定的应用和参考价值。In order to solve the problems of the traditional arc welding robot,such as the lack of autonomous planning of complex weld curve welding path,the low level of intelligence and automation,this paper introduces machine vision into the arc welding robot system,and proposes an algorithm for weld trajectory recognition and path generation.Firstly,the image of the welding object is collected by the industrial computer through the camera,and the image preprocessing operations such as image graying,histogram equalization and threshold segmentation are carried out;Secondly,the edge lines of weld pixels are extracted from the preprocessed image by Canny operator,and a weld centerline extraction algorithm is designed;Finally,an adaptive polynomial curve fitting algorithm is proposed,and the pixel coordinates of the fitting curve are transformed into robot coordinates through the coordinate transformation model,and the coordinate data is sent to the arc welding robot.The experimental results show that the improved arc welding robot system can independently identify the complex weld trajectory and generate the welding path,guide the arc welding robot to complete the welding operation,and the maximum error value is not more than 0.30mm,which meets the requirements of welding accuracy,and has certain application and reference value.

关 键 词：机器视觉 轨迹识别 路径生成 弧焊机器人 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]