Visual guidance welding robot weld joint fast recognition technology based on double dynamic windows

Abstract

The invention discloses a visual guidance welding robot weld joint fast recognition technology based on double dynamic windows. According to the visual guidance welding robot weld joint fast recognition technology, two layers of dynamic windows are used for selecting an image processing area, image data processing capacity is effectively reduced, and the technology is suitable for occasions with high real-time requirements. According to the similitude of sequence images, adjacent sequence images are subtracted from the first layer of dynamic window to conduct multiplication, and large random interference is effectively eliminated; a median filtering method is adopted to filter impulse interference and impulse noise; binaryzation is conducted through the Otsu method, and processing is simple and rapid; Hough transformation is adopted to conduct line extraction, the precision is high, and interface resisting capability is good; the gravity center of a characteristic triangle formed by characteristic angular points is used as a weld joint characteristic point, and solution is simple and rapid. The visual guidance welding robot weld joint fast recognition technology can better meet the requirements of an industrial scene for accurate and rapid extraction of the weld joint characteristic point.

Description

technical field [0001] The invention relates to the field of rapid weld seam identification in a weld seam tracking system of a welding robot, and specifically refers to a method for quickly identifying weld seam feature points by performing double-layer dynamic windowing on the original image of the weld seam. Background technique [0002] The key issue in realizing welding automation is the automatic tracking of weld seams. The intelligent welding robot guided by laser vision combines weld image recognition with robot motion control technology, which can effectively solve the problem of automatic weld seam tracking. [0003] Among the current various sensing methods, the laser structured light vision sensor is widely used due to its advantages of non-contact, large amount of information, and obvious features. Laser structured light vision sensing is an optical sensing technology based on the principle of laser triangulation. When the line laser is projected onto the surfa...

AI Technical Summary

Problems solved by technology

[0005] The general method used for structured light V-shaped welds is to add a window to the entire image to intercept the ROI area, then preprocess and binarize the ROI area, and then extract the light bar line and weld feature points; in the light bar line extraction , Hough transform is widely used due to its strong anti-interference, but the Hough transform processes a large amount of data, which greatly affects the real-time performance of the weld tracking system. After the entire image is preprocessed, the image is dynamically opened for Hough transform , which improves the processing speed of the image processing

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