Design Of Titanium Alloy Pipeline Weld Position Recognition System

With the new generation of satellite platforms put forward higher requirements on the production cycle and welding quality of the titanium alloy pipelines of the propulsion system,the requirements for the automation degree of the welding equipment are continuously improved.The traditional method of relying on manual operation to complete the pipeline welding of the propulsion system is gradually unable to meet the requirements.In view of the background of this practical project,this paper studies the key technologies of pipelines attitude and weld position recognition based on binocular stereo vision,and controls the industrial robot arm to realize the automatic clamping function of titanium alloy pipe welds.It has important practical significance to improve the production efficiency and quality of the satellite propulsion system pipeline.This subject comes from a research project of an aerospace institute.This project aims to develop a fully automated welding platform for the platform of the satellite platform propulsion system.Based on the background and research significance of the project,this paper conducts detailed research and analysis on the research status of visual robots at home and abroad.Finally,the design and development of weld position recognition system for titanium alloy pipeline are completed.In this paper,the imaging model of the camera and the basic principle of binocular stereo vision are studied.The hardware devices used are selected according to the system design principles and technical indicators.On this basis,the visual robot system is designed and built.Aiming at the calibration of visual robot system,the calibration principles of monocular camera,binocular system,arm-eye calibration and the relationship between vision system and satellite mid-plate are studied,and all the calibration works of visual robot system are completed according to the above theories.The basic algorithm of image processing is studied,and the basic functions of image segmentation and positioning of the catheter area are realized.The basic principles and algorithms of stereo matching are studied,and the effectiveness of artificial structure feature point matching for the attitude estimation of titanium alloy pipelines is demonstrated.The pipeline attitude estimation and weld position recognition algorithm are designed and implemented,and the pipeline attitude estimation problem is decomposed into two sub-problems of coplanar and parallel rotation,which simplifies the difficulty of attitude estimation.In addition,by adjusting the camera posture to make it consistent with the pipeline attitude,the difficulty of welding position recognition calculation is simplified,and the correctness and feasibility of the algorithm are verified by experiments.Finally,the modules of the system were integrated,and the design and writing of the system software were completed.Based on this,positioning and clamping experiments are carried out.The functions of binocular camera image acquisition,relay control,motor control,manipulator position and attitude control,catheter attitude estimation and weld position recognition are completed.The feasibility and robustness of the visual robot system are verified.