激光视觉传感在焊接机器人焊缝识别中的应用

Application of Laser Vision Sensing in Weld Recognition of Welding Robot

为实现复杂工况下焊接机器人精准识别焊缝目标,将激光视觉传感技术应用于机器人焊缝识别中。以激光视觉传感器作为核心硬件,构建焊接图像采集系统,运用PCI总线卡检测传感器及外部指示灯是否为连接状态,通过PXR800图像采集卡在规定时间内得到激光焊接图像,使用串口通信程序完成图像高效传输。分别采用双边滤波器与模糊算子实施图像去噪与增强处理,优化图像角点与激光条纹中心点,利用等式约束方程修正卡尔曼滤波后的图像坐标值,完成高精度焊缝识别任务。仿真结果证明,激光视觉传感能够帮助机器人提升焊缝识别精度、增强抗干扰能力,为焊接机器人的推广应用发挥积极作用。

In order to realize the accurate recognition of weld target by welding robot under complex working conditions,laser vision sensing technology is applied to robot weld recognition.Taking the laser vision sensor as the core hardware,we build the welding image acquisition system,use the PCI bus card to detect whether the sensor and external indicator are connected,obtain the laser welding image within the specified time through the PXR800 image acquisition card,and use the serial port communication program to complete the efficient image transmission.The bilateral filter and fuzzy operator are used to denoise and enhance the image,optimize the image corner and the center of the laser stripe,and use the equality constraint equation to modify the image coordinate value after Kalman filter to complete the task of high-precision weld recognition.Simulation results show that laser vision sensing can help the robot improve the accuracy of weld recognition and enhance the anti-interference ability,which plays a positive role in the popularization and application of welding robot.