A precise guiding technology for V-groove initial weld point based on binocular vision and structured light vision

被引:1
|
作者
Wang, Tianqi [1 ,2 ]
Li, Qiaochu [1 ]
He, Junjie [1 ,2 ]
机构
[1] Tianjin Key Lab Adv Mechatron Equipment Technol, Tianjin 300387, Peoples R China
[2] Tiangong Univ, Sch Mech Engn, Tianjin 300387, Peoples R China
来源
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2024年 / 135卷 / 9-10期
基金
中国国家自然科学基金;
关键词
Initial weld point guiding; Structured light vision; Binocular vision; Welding robot; SEAM TRACKING; POSITION; IDENTIFICATION; CAMERA;
D O I
10.1007/s00170-024-14722-1
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Initial weld point (IWP) guiding technology is an essential component of intelligent welding. To address the issues associated with current IWP guiding, a precise guiding technology based on binocular vision and structured light vision is proposed. Firstly, binocular cameras can identify the initial weld region (IWR) through the improved Yolov8 object detection algorithm. After the IWP identification and binocular ranging, the point is approximately located. Then, the position of the structured light camera relative to the approximate IWP is determined by structured light planes. After identifying the weld feature points and boundary points, the camera posture is rectified to extract precise weld depth information, enabling the precise locating of the IWP. Finally, to verify the accuracy of visual locating, the welding torch is guided to the IWP, and the difference between guiding position and actual position is compared. Experimental results show that the proposed method can precisely locate the IWP, meeting subsequent welding requirements.
引用
收藏
页码:4511 / 4530
页数:20
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