基于机器视觉跟踪的船舶小组立焊接过程中焊点提取技术研究  

Research on Welding Spot Extraction Technology in Ship Assembly Welding Process Based on Machine Vision Tracking

作　　者：郭志飞 甄希金[2] 刘昱涵 董建荣[1] 张卫艳 GUO Zhifei;ZHEN Xijin;LIU Yuhan;DONG Jianrong;ZHANG Weiyan(Hebei Institute of Machinery&Electricity,Xingtai,Hebei 054000,China;Shipbuilding Technology Research Institute,Shanghai 200032,China)

机构地区：[1]河北机电职业技术学院,河北邢台054000 [2]上海船舶工艺研究所,上海200032

出　　处：《自动化应用》2024年第17期138-141,共4页Automation Application

基　　金：2022年河北机电职业技术学院院级教科研规划自然科学重点课题(ZD22002);2024年河北省高等学校科学研究项目-青年基金项目(QN2024132)。

摘　　要：针对船舶分段小组立焊接工艺要求,开展了基于机器视觉跟踪引导焊接中焊点提取技术的研究。首先,介绍了焊点提取技术的国内外研究现状;其次,分析了焊接工件的常用接头形式;再次,采用自主研制的视觉跟踪引导传感器采集了工件的激光线图像,基于灰度重心法提取了激光光心重心;最后,基于斜率平均值法计算了光心的斜率,提取了光心轮廓单调区间,基于突变点的几何特性提取了最大跨度单调区间,确定了焊点坐标。最终开展了小组立零件的焊接实验,取得了较好的焊接质量。A research on welding point extraction technology based on machine vision tracking guidance was carried out in response to the welding process requirements of ship segmented groups.Firstly,the research status of solder joint extraction technology at home and abroad was introduced.Secondly,the common joint forms of welded workpieces were analyzed.Again,a self-developed visual tracking guidance sensor was used to collect laser line images of the workpiece,and the laser center of gravity was extracted based on the grayscale centroid method.Finally,the slope of the optical center was calculated based on the average slope method,and the monotonic range of the optical center contour was extracted.The maximum span monotonic range was extracted based on the geometric characteristics of the transition point,and the coordinates of the solder joint were determined.Finally,a welding experiment was conducted on the group assembled parts,achieving good welding quality.

关 键 词：船舶分段 机器视觉 激光光心 焊点提取 

分 类 号：U671.8[交通运输工程—船舶及航道工程] U663[交通运输工程—船舶与海洋工程]