Design And Implementation Of Robot Weld Recognition System Based On Optimized Light-Plane Calibration

With the rapid rise of the manufacturing industry,welding technology has become increasingly important.Traditional manual welding is no longer sufficient to meet current demands,and the use of computer vision to guide automated welding can effectively solve this problem.Welding robots based on line structured light visual sensors can fully perceive environmental information and achieve contactless,high-precision welding.However,the existing robot welding seam recognition systems on the market suffer from complex operation and low recognition accuracy.Therefore,this paper designs and implements a welding seam recognition system based on line structured light to address these problems.The main research content is as follows:First,the calibration of the measurement system is studied.In terms of camera calibration,the system model is analyzed,and the camera calibration process is described in detail.In terms of light plane calibration,an optimized light plane calibration method is proposed.This method calibrates the light plane while calibrating the camera to reduce the errors introduced by repeated calibration,and detailed steps are provided.Second,research is conducted on the algorithm for extracting the center of line structured light stripes.An optimized extraction algorithm is proposed by analyzing the advantages and disadvantages of several algorithms.Based on the characteristics of the light stripe image,the gray centroid method is combined with contour tracking ideas to optimize the search path of the light stripe center,thereby achieving the rapid calculation of the center.The feasibility and effectiveness of the algorithm are verified through comparative experiments.Next,the extraction of welding seam feature points and hand-eye calibration are studied.The purpose is to convert the 3D coordinates of the welding seam feature points measured by the line structured light system in the camera coordinate system to the robot coordinate system.The basic principles of hand-eye calibration are analyzed,and the basic equations of the entire calibration process are derived in detail.Finally,a welding seam recognition system based on line structured light visual sensors is designed and implemented using the proposed optimized light plane calibration method and center extraction algorithm.Welding seam recognition experiments are conducted,and the results show that the welding seam recognition system based on the optimized light plane calibration designed and implemented in this paper basically meets the requirements of industrial welding in terms of measurement accuracy.