本文關(guān)鍵詞： 機(jī)器視覺(jué) 視覺(jué)引導(dǎo) 圖像處理 白車身 焊接　出處：《合肥工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：本文提出了一種基于機(jī)器視覺(jué)的白車身頂蓋焊接質(zhì)量控制方法,該方法主要是針對(duì)某一系列轎車車型,基于機(jī)器視覺(jué)獲取白車身頂蓋區(qū)域的三維位姿信息,并將該三維位姿發(fā)送給機(jī)器人,與機(jī)器人形成閉環(huán)控制,在線引導(dǎo)機(jī)器人快速準(zhǔn)確地將已抓取的頂蓋輸送到白車身相應(yīng)位置,保證白車身頂蓋焊前初始位置的準(zhǔn)確性,進(jìn)而保證白車身頂蓋的焊接質(zhì)量。首先,研究了白車身頂蓋焊接質(zhì)量視覺(jué)控制系統(tǒng)的標(biāo)定流程及方法,對(duì)相機(jī)及手眼系統(tǒng)進(jìn)行標(biāo)定;其次,為了提取白車身頂蓋區(qū)域的特征點(diǎn),分析研究了白車身頂蓋區(qū)域特征點(diǎn)提取的圖像處理流程及方法;再次,構(gòu)建了白車身頂蓋區(qū)域?qū)嶋H特征點(diǎn)與像素特征點(diǎn)的幾何映射模型,求解出白車身頂蓋區(qū)域特征點(diǎn)的位姿信息;然后,提出基于多特征點(diǎn)約束的三維位姿轉(zhuǎn)換模型,將白車身頂蓋區(qū)域多個(gè)特征點(diǎn)的三維位姿信息轉(zhuǎn)化成單個(gè)特征點(diǎn)的三維位姿,即機(jī)械手末端目標(biāo)點(diǎn)的三維位姿信息。最后,分析白車身頂蓋焊接質(zhì)量視覺(jué)控制系統(tǒng)的運(yùn)行原理及功能需求,構(gòu)建了系統(tǒng)的軟硬件架構(gòu),在此基礎(chǔ)之上,設(shè)計(jì)開(kāi)發(fā)了白車身頂蓋焊接質(zhì)量視覺(jué)控制原型系統(tǒng)。希望能為汽車企業(yè)設(shè)計(jì)白車身頂蓋焊接工藝提供一種新的參考模式與實(shí)現(xiàn)途徑。
[Abstract]:In this paper, a method of welding quality control of white body cover based on machine vision is proposed. This method is mainly for a series of car models, based on machine vision to obtain the three-dimensional position and attitude information of the top cover area of white body. The 3D pose is sent to the robot to form a closed-loop control with the robot, and the on-line guidance robot can quickly and accurately transport the grabbed top cover to the corresponding position of the white body. Ensure the accuracy of the initial position before the white body cover welding, and then ensure the welding quality of the white body top cover. Firstly, the calibration process and method of the visual control system of the white body top cover welding quality are studied. Calibration of camera and hand-eye system; Secondly, in order to extract the feature points of the white body cover region, the image processing flow and method of feature point extraction in the white body cover area are analyzed and studied. Thirdly, the geometric mapping model between the actual feature points and the pixel feature points in the white body cover region is constructed, and the position and orientation information of the feature points in the white body cover area is solved. Then, a 3D position and pose transformation model based on multi-feature points constraint is proposed, which transforms the 3D pose information of multiple feature points in the top cover of white body into that of a single feature point. That is the three-dimensional position and pose information of the target point at the end of the manipulator. Finally, the operating principle and functional requirements of the visual control system for welding quality of the top cover of the white body are analyzed, and the software and hardware architecture of the system is constructed on this basis. A prototype system of visual control for welding quality of white body roof is designed and developed. It is hoped that this system can provide a new reference mode and realization way for automobile enterprises to design the welding process of white body top cover.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41

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本文編號(hào)：1445616