摘要
为了提高焊接产品质量及生产效率,改善工人恶劣的劳动条件,运用视觉传感器采集焊缝图像,实时传送至计算机中进行图像处理。提出了焊缝实时跟踪系统的原理,设计了合理的焊接机构。选用ABB IRB1410弧焊机器人,用RobotStudio软件建立了机器人焊接工作站。通过灰度线性拉伸法处理图像后,焊缝轮廓清晰,对比度明显提高。利用图像骨架法准确提取到焊缝中心线,设计了焊缝实时处理系统,可以快速地处理图像。在机器人焊接时,控制焊枪始终与焊缝中心对齐,即可以实现焊缝实时跟踪焊接。实验结果表明,得到的图像处理流程可靠,方法准确且适应性强,设计的焊缝实时跟踪系统应用广泛。
In order to improve the quality and production efficiency of welding products and the bad working condi-tions of workers, visual sensors are used to collect welding seam images and transmit them to computer for image processing in real time. The principle of real-time seam tracking system is put forward, and a reasonable welding mechanism is designed. ABB IRB1410 arc welding robot was selected and robot welding workstation was established by RobotStudio software. After processing the image by gray linear stretching method, the weld contour is clear and the contrast is improved obviously. The image skeleton method is used to accurately extract the center line of the weld, and a real-time processing system for the weld is designed, which can process the image quickly. In robot welding, the real-time tracking of welding seam can be realized by controlling that the torch is always aligned with the center of welding seam. The experimental results show that the image processing flow is reliable,the method is accurate and adaptable, and the designed real-time seam tracking system is widely used.
作者
孙增光
王士军
周永鑫
张临松
陈伟
SUN Zengguang;WANG Shijun;ZHOU Yongxin;ZHANG Linsong;CHEN Wei(School of Mechanical Engineering, Shandong University of Technology, Zibo 255000, CHN)
出处
《制造技术与机床》
北大核心
2019年第5期144-148,共5页
Manufacturing Technology & Machine Tool
基金
国家自然科学基金青年基金项目"基于进给系统动态特性的多轴协调运动自适应前瞻控制"(51505265)
关键词
机器视觉
图像处理
实时跟踪
中心线提取
machine vision
image processing
real time tracking
center line extraction
