【摘要】：隨著現(xiàn)代化焊接生產(chǎn)對產(chǎn)品質(zhì)量和生產(chǎn)效率的要求越來越高，如何保證焊接質(zhì)量，提高焊接自動(dòng)化水平成為擺在人們面前的一項(xiàng)重大課題。激光結(jié)構(gòu)光主動(dòng)視覺檢測系統(tǒng)在提高焊接機(jī)器人的自動(dòng)化、智能化方面發(fā)揮了積極作用。目前，國內(nèi)外制造領(lǐng)域正面臨著機(jī)器人大規(guī)模應(yīng)用的寶貴機(jī)遇,對于能夠提高機(jī)器人柔性和智能程度的視覺傳感系統(tǒng)的需求日益迫切。因此，研究視覺檢測算法，開發(fā)具有自主知識產(chǎn)權(quán)的視覺檢測系統(tǒng)，對于提高機(jī)器人的感知能力具有十分重要的意義。 以管道對接V形坡口焊縫為主要研究對象，設(shè)計(jì)了用于算法測試的視覺檢測系統(tǒng)樣機(jī)。選用基于Texas Instrument C64系列DSP處理器的智能攝像機(jī)、波長650nm的線激光光源、合適焦距的鏡頭、濾光片，并根據(jù)視覺檢測系統(tǒng)的空間約束關(guān)系和視覺測量原理，設(shè)計(jì)了樣機(jī)的硬件結(jié)構(gòu)。 通過對實(shí)時(shí)焊縫圖像進(jìn)行最小感興趣區(qū)域(ROI)確定，自適應(yīng)圖像分割，中心線條紋提取，中心線差值與濾波，Hough變換提取結(jié)構(gòu)光主直線等處理，采用基于距離搜索的方法提取焊縫特征點(diǎn)，準(zhǔn)確獲得了圖像平面上反映焊縫形狀和位置的特征點(diǎn)坐標(biāo)。 針對環(huán)形焊縫提出了解耦檢測算法，即通過對單幀圖像提取的三維焊縫特征信息進(jìn)行解耦，計(jì)算出焊槍在二維平面內(nèi)相對焊縫中心的偏差量。進(jìn)而設(shè)計(jì)了基于圖像的控制方法，實(shí)現(xiàn)了焊槍的快速準(zhǔn)確定位。 通過大量的現(xiàn)場測試結(jié)果證明，本文建立的視覺檢測系統(tǒng)緊湊、可靠，設(shè)計(jì)的圖像處理算法具有較好的穩(wěn)定性和實(shí)時(shí)性、較高的可靠性和抗干擾性，，解決了焊接過程中強(qiáng)干擾環(huán)境中的焊縫識別和實(shí)時(shí)控制問題，能滿足工業(yè)生產(chǎn)要求，具有重要的科學(xué)和使用價(jià)值。
[Abstract]:With the increasing demands of modern welding production on product quality and production efficiency, how to ensure welding quality and improve the level of welding automation has become an important issue in front of people. Laser structured light active vision detection system plays an active role in improving the automation and intelligence of welding robot. At present, the domestic and foreign manufacturing field is facing the precious opportunity of large-scale application of robot, and the need of vision sensing system which can improve the flexibility and intelligence of robot is increasingly urgent. Therefore, the research of vision detection algorithm and the development of vision detection system with independent intellectual property rights are of great significance to improve the perception ability of robots. The visual inspection system prototype for algorithm testing is designed, which takes V-groove weld seam of pipeline docking as the main research object. The intelligent camera based on Texas Instrument C64 series DSP processor, the line laser light source of wavelength 650nm, the lens with suitable focal length and the filter are selected. The hardware structure of the prototype is designed according to the spatial constraint relation of the vision detection system and the principle of vision measurement. In this paper, the minimum region of interest (ROI), adaptive image segmentation, centerline stripe extraction, centerline difference and filter Hough transform are used to determine the minimum region of interest of the real-time weld image. The distance search method is used to extract the weld seam feature points, and the coordinates of the feature points reflecting the shape and position of the weld seam on the image plane are obtained accurately. A decoupling detection algorithm is proposed for annular welds, that is, by decoupling 3D weld characteristic information extracted from single frame image, the deviation of welding torch relative to weld center in two-dimensional plane is calculated. Furthermore, the control method based on image is designed to realize the fast and accurate positioning of welding torch. Through a lot of field test results, it is proved that the visual inspection system established in this paper is compact, reliable, and the image processing algorithm designed has good stability and real-time, high reliability and anti-interference. The problem of welding seam identification and real-time control in the environment of strong interference during welding process is solved. It can meet the requirements of industrial production and has important scientific and practical value.
【學(xué)位授予單位】：河北工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP391.41

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