摘要
利用环形激光扫描传感器,建立了一种用于焊缝定位与焊缝跟踪的弧焊机器人视觉传感系统,基于图像分割、特征提取和三维计算等技术,实现了待焊工件形状位置信息的三维数值计算,并以对接焊缝和斜坡焊缝为对象进行了焊缝定位和焊缝跟踪试验.结果表明,提出的弧焊机器人视觉系统能够实时获得被焊工件的形位信息,实现焊缝的实时定位与跟踪.
One novel arc robotic visual sensing system was constructed using proposed circular laser vision sensor, which could be used for welded seam location and seam tracking. Image segmentation, feature extract and 3D modeling were studied and shape and location of the welded joint to be welded could be obtained real time. Taking butt ioint and ramp joint for an example, experiments of seam location and seam tracking were carried out. The results show that visual robotic arc seam tracking system based on circular laser sensor can obtain the information of shape and location of workpiece. Seam location and seam tracking can be realized real-time.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2008年第1期28-31,共4页
Journal of Shanghai Jiaotong University
基金
上海工程技术大学青年基金(06-7)
上海高校选拔培养优秀青年教师科研专项基金(06XPYQ17)及重点学科项目(xk0705)
关键词
视觉传感器
焊缝跟踪
环形激光
特征提取
vision sensor
seam tracking
circular laser
feature extraction
