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针对自动焊接机器人焊缝精确检测的问题,研究了基于结构光视觉传感器的视觉检测方法,对结构光视觉传感器实时采集图像进行理论分析,经过焊缝图像预处理、图像边缘检测和轮廓提取等处理过程,运用最小二乘法对焊缝边缘拟合,通过求平均值的方法提取结构光条纹的中心直线,找到数字图像中焊缝的位置,最后利用机器人手眼标定焊缝的位置,并进行焊缝跟踪。结合试验,验证了该视觉检测方法检测精度较好,能够满足实际的工作要求。
Aiming at the problems of the automatic welding robots’ welding seam detection, the visual inspection method based on the structured light vision sensor is studied. The real-time image acquisition of the structured light vision sensor is analyzed theoretically. After preprocessing of weld image, edge detection and contour extraction Process, using the least squares method to fit the edge of the weld, extracting the center straight line of the structured light stripe by means of averaging to find the location of the weld in the digital image, and finally marking the position of the weld by the hand of the robot and performing the welding track. Combined with the test, it is verified that the visual detection method has better detection precision and can meet the actual working requirements.