基于图像空间的焊接机器人起始点自动识别与自动控制

Automatic identification and control of the starting point of the welding robot based on image space

以集装箱薄钢板对接焊为背景,提出了一种焊接机器人起始点自动识别与焊枪精确对位的图像空间控制方法。分别以迭代圆形霍夫变换方法、直线霍夫变换方法确定了包含焊枪特征点的圆形感兴趣区域,实现焊枪特征点、焊缝直线的识别和焊缝特征点提取,设计了基于图像空间的焊缝起始点视觉控制策略,实现了起始点的精确定位控制。实验表明:该方法能够精确地识别焊缝特征和焊枪坐标,快速精确定位焊枪,具有较好的鲁棒性。

In this paper,taking the butt welding of container sheet steel as a background,a new image space control method is presented for automatic identification of the starting point of the welding robot and precise alignment of the welding gun.The iterative circular Hough transform method and linear Hough transform method are respectively used to confirm a circular area of interest including welding gun feature points,identify welding gun feature points and welds line and extract welds feature points.The visual control strategy of the starling points of the welds based on image space is designed to achieve precise positioning control of starting points.The resuhs show that this metbod can accurately identify the weld characteristics and welding gun coordinate,and quickly accurately positioning the welding gun,and has better robustness.