A laser vision guided welding robot fillet weld feature extraction method

Abstract

The invention provides a feature extraction method applicable to a corner weld of a laser vision guided welding robot. The method can obtain the corner angle and the weld point coordinates of the corner weld. The method comprises the following steps: in the part of determination of the corner angle, collecting the corner images with feature light strips of the welding robot in two poses, and then fitting the equations of two corner surfaces to determine the corner angle; and in the part of extraction of weld points, first cutting out ROI zones, then conducting median filtering, binaryzation and thinning, and then extracting light strip straight lines by virtue of Hough transformation and recognizing the weld points. The determination of the corner angle is beneficial to effectively coordinating the welding robot to determine the poses at the beginning of welding; an effective reorganization method of the weld points ensures real-time and accurate extraction of the welding points; and the feature extraction of the corner weld is complete, is of great significance to the practical welding link process, and has favorable practicability.

Description

technical field [0001] The invention relates to a welding robot guided by a laser vision sensor and a method for extracting the characteristics of a diagonal seam, in particular to the determination of the welding angle in the welding process of the diagonal seam by a welding robot guided by a line laser structured light vision sensor and the Identification method of weld points. [0002] technical background [0003] In recent years, with the rapid development of the national economy, the country's demand for metal materials has continued to expand and the quality requirements have continued to improve. Welding is an important process link for the use of metal materials, and the quality of welding is directly related to the use of metal materials. The existing welding methods are labor-intensive, poor in working environment, complicated in process, and cause great damage to the human body, and the welding quality is mainly guaranteed by the welder's personal skills, experien...

AI Technical Summary

Problems solved by technology

[0006] Among the characteristics of fillet welds, scholars at home and abroad focus on the identification method of weld points, and believe that welding can be realized by identifying weld points. However, only the three-dimensional information of weld points cannot automatically determine the initial welding position of the robot, and it is difficult to truly Realize welding automation

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