Assembly recognition and positioning system for resistance spot welding of enameled wire based on machine vision

基于机器视觉的漆包线组装识别与电阻点焊定位系统 Assembly recognition and positioning system for resistance spot welding of enameled wire based on machine vision 刘明 LIU Ming 1 first-author 黄增好 HUANG Zenghao 2 曹彪 CAO Biao 1 corresp mebcao@scut.edu.cn 曾家铨 ZENG Jiaquan 1 田然 TIAN Ran 1 华南理工大学机械与汽车工程学院 华南理工大学机械与汽车工程学院 Guangzhou Jingyuan Electronic Equipment Co.,Ltd. Guangzhou Jingyuan Electronic Equipment Co.,Ltd. 广州市精源电子设备有限公司  广州市精源电子设备有限公司  School of Mechanical and Automotive Engi neering,South China University of Technology School of Mechanical and Automotive Engi neering,South China University of Technology 为了解决漆包线电阻点焊过程中焊点难以精确定位,并由此产生虚焊、焊偏及漏焊等焊接质量问题,设计了一种基于机器视觉的漆包线组装识别与电阻点焊定位系统。分析漆包线点焊定位过程中的各种不良组装模式,研究识别与定位系统的图像处理算法,制订了定位策略及规则。首先利用模板匹配提取ROI,得到漆包线与焊盘所在区域图像;其次采用阈值分割、形态学处理、Laplacian算子等图像处理算法,识别并剔除定位过程中的不良组装模式;最后通过边缘提取并采用合适的算法得到最佳焊点位置。实验结果表明,定位系统能有效剔除不良模式,准确提取并输出最佳焊点位置坐标,识别与提取所需时间短,能够满足漆包线自动化点焊要求。 The solder joint is difficult to position accurately during the resistance spot welding process of enameled wire,resulting in welding quality problems such as virtual welding,weld misalignment and lack of weld. In order to solve these problems, assembly recognition and positioning system for resistance spot welding of enameled wire based on machine vision is developed. The various kinds of bad patterns during the resisance spot welding positioning process of enameled wire are analyzed,the image processing algorithms of recognition and positioning system are studied,and the strategy and rules of positioning are formulated. Firstly,the region images of enameled wire and pad are acquired by extracting ROI with template matching;secondly,the bad patterns are recognized and eliminated by means of image processing algorithms such as thresholding,morphology and Laplacian operator;lastly,the optimum solder joint position are computed through extracting the edge of enameled wire and pad. The experiment results show that the positioning system can effectively eliminate the bad patterns, accurately extract and output the coordinates of the optimum solder joint position. This system can meet the requirements of automatic resistance spot welding of enameled wire because its recognition and extraction time is very short. 机器视觉 图像处理 边缘提取 定位 自动化 TG453.9;TP391.41 2022-03-08 5 51