客车底盘骨架对接焊缝的视觉跟踪系统

Visual Tracking System for Butt Welding Seams on Skeleton of Bus Chassis

根据客车底盘骨架对接焊缝的特点,设计了基于激光视觉传感的焊缝跟踪系统。针对图像处理运算量大的特点,为减少图像处理时间,提出了加窗处理算法。视觉传感系统采集并分析焊缝图像得出焊缝偏差,控制系统根据焊缝偏差指导机器人移动焊枪进行实时纠偏控制。实验结果表明,所设计的焊缝跟踪系统满足焊缝跟踪的精度要求,可以用于底盘骨架的焊接。

According to butt welding characteristics on skeleton of bus chassis, this paper designs a welding seam tracking system with a laser vision. Due to the large amount operation in the image processing, a windowing algorithm is proposed, which is used to shorten the image processing time. This system is used to collect and analyze the image, thus obtaining the deviation. The robot is guided by the control system, the torch head is adjusted to reduce the tracking deviation. The experimental results show that this system meets the requirement of its fracking accuracy. It can be used for the welding of the chassis.