基于机器视觉的火箭贮箱焊缝射线检测  

X-ray inspection of rocket tank welding seam based on machine vision

作　　者：王堃[1] 陈惠风[1] 王金明[1] 王飞[1] 周愿愿 李光保 WANG Kun;CHEN Huifeng;WANG Jinming;WANG Fei;ZHOU Yuanyuan;LI Guangbao(Shanghai Aerospace Precision Machinery Research Institute,Shanghai 201600,China;School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]上海航天精密机械研究所,上海201600 [2]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《无损检测》2024年第7期1-6,共6页Nondestructive Testing

摘　　要：针对当前火箭贮箱焊缝采用工业机器人作为射线检测系统的执行机构,通常按照“示教-再现”进行既定轨迹运动,不能适应小批量多品种的柔性与智能生产线的问题,将伺服机构、图像处理技术与智能机器人相结合,采用基于图像的视觉伺服控制(IBVS)方法反馈当前图像特征信息,与期望图像特征进行对比形成图像特征偏差,再基于SSA-BP的控制方法,将得到的特征误差用于火箭贮箱焊缝检测中的焊缝位置误差补偿,以提高射线检测系统的作业精度。最后通过试验,验证了该方法具有良好的自适应性和鲁棒性。At present,the industrial robot is used as the executive mechanism of the X-ray inspection system for the welding seam of the rocket tank,which usually follows the“teach-reproduce”trajectory movement and thus cannot adapt to the flexible and intelligent production line with small batch and variety.In this paper,servo mechanism,image processing technology and intelligent robot were combined,and the image-based visual servo control(IBVS)method was used to feed back the current image feature information,which was compared with the expected image feature to form the image feature deviation.The obtained feature error was based on SSA-BP control method,which was used to compensate the weld position error in the process of detecting the welding seam of rocket tank,so as to improve the working accuracy of the X-ray inspection system.Finally,the experiment showed that this method had good adaptability and robustness.

关 键 词：射线检测 视觉伺服 图像处理 SSA-BP算法 位置补偿 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TG115.28[金属学及工艺—物理冶金]