The Development Of Robotic Vision Welding Seam Measurement System Based On VBAI

In the field of modern manufacturing industry,especially in heavy industry,the development of welding technology often indicates the degree of development of the whole industry.In welding technology,welding robot technology has become one of the key technologies,has become a major trend of the intelligent direction,how to improve the level of intelligent welding robot has become the main research topic.Most of the traditional welding robot belongs to the teaching and playback robot,which has poor adaptability to the complex situation,and has great influence on the environment.Once the welding problems or thermal stress caused by welding deformation,welding robot is difficult to reproduce the ideal demonstration action,which will affect the quality of welding.Because the welding robot does not have the ability to detect the weld position and offset degree,so the need for the configuration of a welding seam recognition system,help the robot in the process of welding seam position to respond to real-time control,adjust its trajectory,realize the intelligent welding.In this paper,the design method of welding robot recognition system is introduced,and a set of welding seam recognition system based on visual image processing is designed.To obtain real-time welding image using smart camera,and image processing using VBAI,welding seam feature point in the image,then according to the geometry of the sensor module,and the position characteristics of the first image point,calculate the position change of the two images of weld respectively in vertical and horizontal direction,will the feedback to the host computer for processing,and then guide the mobile robot.The accuracy of the scheme is high.After the experiment,the scheme can control the error within about0.5mm,and the precision requirement of arc welding is within 2mm.And,because the scheme using smart camera to capture image,and intelligent camera with thefunction of data processing,the host computer has responsibility to share part,if can realize the use of welding robot software system's realization of data received in the future,is expected to get rid of the host computer,simplify the welding robot,with the development prospects.At the same time,the sensor module of the important parameters of the proposed calibration method in the actual welding before the design parameters of camera parameters,geometric calibration according to the method,in order to ensure the accuracy of the position offset of the weld.