Welding Seam Tracking of Locomotive Steel Structure Welding Robot based on Visual Features

ZHONG Fan

doi:10.7512/j.issn.1001-2303.2024.09.09

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Welding Seam Tracking of Locomotive Steel Structure Welding Robot based on Visual Features
Vol. 54, Issue 9, Pages: 69-76(2024)
Published： 25 September 2024 ，
DOI： 10.7512/j.issn.1001-2303.2024.09.09
稿件说明：

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钟凡.基于视觉特征的机车钢结构焊接机器人焊缝跟踪方法研究［J］.电焊机，2024，54（9）：69-76.

ZHONG Fan.Welding Seam Tracking of Locomotive Steel Structure Welding Robot based on Visual Features[J].Electric Welding Machine, 2024, 54(9): 69-76.
钟凡.基于视觉特征的机车钢结构焊接机器人焊缝跟踪方法研究［J］.电焊机，2024，54（9）：69-76. DOI： 10.7512/j.issn.1001-2303.2024.09.09.

ZHONG Fan.Welding Seam Tracking of Locomotive Steel Structure Welding Robot based on Visual Features[J].Electric Welding Machine, 2024, 54(9): 69-76. DOI： 10.7512/j.issn.1001-2303.2024.09.09.

摘要

机车钢结构在智能焊接过程中，受到热输入、材料变形等因素的影响，焊缝的实际位置和形状会发生变化，在焊缝跟踪时，当前视觉帧间差方法容易忽略位置信息和焊缝轨迹位置偏差，导致跟踪误差大。对此，提出基于视觉特征的机车钢结构焊接机器人焊缝跟踪方法。选取以“棋盘格&条纹”混合图像作为基础，标定机车钢结构焊接机器人立体视觉位置，对焊接机器人激光条纹的中心线特征进行捕获；通过Roberts算子提取焊缝边缘信息，引入Hough变换确定焊缝中心线，实现焊缝识别，并将焊缝坐标展开转换，将其映射至机车钢结构焊接机器人的基础坐标系，在三维空间中构建焊缝轨迹；基于焊枪当前的位置信息和焊缝轨迹计算位置偏差，通过三次分均匀有理B样条对焊缝轨迹数据进行实时修正，实现机车钢结构焊接机器人焊缝实时跟踪。试验结果表明，所提方法可以有效提升机车钢结构焊接机器人焊缝跟踪精度。

Abstract

In the process of intelligent welding of locomotive steel structure

affected by heat input

material deformation and other factors

the actual position and shape of the weld will change. When tracking the weld

the current visual frame difference method is easy to ignore the position information and the position deviation of the weld trajectory

resulting in large tracking error. In this regard

a seam tracking method for locomotive steel structure welding robot based on visual features is proposed. Based on the "checkerboard&Stripe" mixed image

the stereo vision position of the locomotive steel structure welding robot is calibrated

and the centerline feature of the laser stripe of the welding robot is captured; The Roberts operator is used to extract the weld edge information

and the Hough transform is introduced to determine the weld centerline to realize the weld identification. The weld coordinates are transformed and mapped to the basic coordinate system of the locomotive steel structure welding robot

and the weld trajectory is constructed in three-dimensional space; Based on the current position information of the welding torch and the calculation of the position deviation of the weld trajectory

the weld trajectory data is corrected in real time by cubic uniform rational B-spline

and the real-time tracking of the weld seam of the locomotive steel structure welding robot is realized. The experimental results show that the proposed method can effectively improve the seam tracking accuracy of the locomotive steel structure welding robot.

关键词

视觉特征机车钢结构焊接机器人焊缝跟踪

Keywords

visual featureslocomotive steel structurewelding robotsweld seam tracking

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