核电容器高效磨削的焊缝轨迹检测与识别系统的研究

Study on Welding Seam Grinding Trajectory Detection System of Nuclear Pressure Vessel in Grinding Efficiency

为了实现核电高压容器高效磨削中的焊缝磨削轨迹的在线检测,提出了一种基于机器人视觉的焊缝磨削轨迹检测与识别技术,该技术是将基于结构光的视觉系统安装在磨削机器人的末端,使磨头反转,构成视觉的检测系统。并对采集到已焊V型坡口的焊缝图像进行图像处理试验,结果表明,该系统能够运用于核电高压容器高效磨削的焊缝磨削轨迹检测中,并且可以获得被磨削工件的形位信息。

In order to realize online testing of welding seam grinding trajectory when grinding it with high emceiency of nuclear pressure vessel, a welding seam grinding trajectory detection based on robot vision and recognition technology is proposed. It is based on structured light vision system installed in the end of grinding robot and makes the grinding head reverse, then the visual detection system is made up. The the image-procassing test of the welded V-grove image has been made. The results show that the robot vision system can be apphed to welding seam grinding trajectory detection of nuclear pressure vessel in grinding efficiency, and obtain the shape and position information of grinding work piece.