机器人焊缝跟踪水下双目视觉图像采集系统

Image acquisition system design of underwater binocular vision for robotic welding seam tracking

分析了水下焊接的影响因素,采用大红和紫红复合滤光片进行滤光。根据机器人的结构,采用可调焦微型摄像机,满足跟踪精度的要求。设计了内外压环和密封圈的防水结构,使摄像机及光源的防水性能达到70～80m。采用相交光轴双目摄像头的布局形式,设计了一块带弧形槽的装配板来装配摄像头与灯源,使其既适应于水下焊接,又易于匹配。对直线对接焊缝和坡口焊缝进行采集试验,所采集焊缝清晰可见、干扰较少,完全可以用于水下焊缝跟踪。

Red and purple composite filters system was used according to influencing factors on underwater welding.According to the structure of the robot,micro cameras can meet the requirement of tracking accuracy.Waterproof structure with internal and external pressure ring and seal was designed,and the waterproof of camera and light source can reach up to 70 - 80 m.Binocular camera intersecting in optical axis and an assembly board with a curved groove was designed to fix the camera and light source,which both adapts to underwater welding and be easy to match.Acquisition experiments of linear butt welding and groove welding seam show that the clear welding seam image with less interference were obtained,and the images can be used for welding seam tracking.