Research On Weld Feature Point Recognition And Path Planning Based On Two-dimensional Line Laser

Since industrial robots were invented in the last century,with the development of industrial technology,welding robots,as a large class of industrial robots,have been widely used in industrial production,playing a key role in promoting production and improving the economic benefits of the manufacturing industry.In recent years,the traditional welding robot seems to rely too much on the manual teaching of engineers to guide the robot to complete the welding task,which cannot meet the requirements of contemporary science and technology for welding robot.Therefore,in order to continuously improve productivity,the focus of welding robot research has been transferred to the field of intelligent welding at home and abroad.In this study,the machine vision technology is applied to the welding process of the welding robot.The two-dimensional line laser sensor is used as the vision module of the new intelligent welding system,and the industrial PC is used as the data processing module to process the data measured by the sensor.Combined with the control system of the robot,a method which can identify a variety of weld features and welding path planning is proposed.The main contents of this paper are as follows:1.Combined with the research status and development trend in the field of intelligent welding at home and abroad,and around the actual needs of the research project and subject,a software and hardware system of robot welding system based on two-dimensional line laser sensor is completed.2.According to the working mechanism and measurement principle of the line laser sensor,the algorithm design and programming of data preprocessing are completed,and the conversion between data bases and the visual operation of linear array point cloud are realized.3.Aiming at the common types of welded joints and welds,a series of weld recognition algorithms based on least square curve fitting are proposed.The corresponding program is developed by using Visual Studio platform,which can identify and extract weld feature points quickly and accurately,which lays a solid foundation for robot welding path planning.4.Based on the basic theory of robot kinematics and pose transformation,using the extracted coordinate information of weld feature points,and through the analysis and modeling of weld feature coordinate system,the position and attitude planning of interpolation points on welding path is realized.It provides data support for subsequent robot program generation and welding simulation.