基于CCD的焊缝检测系统研究与软件设计

发布时间：2018-04-28 06:15

本文选题：双工位 + 氩弧焊　；参考：《哈尔滨理工大学》2017年硕士论文

【摘要】：在提高焊接工作的效率和质量方面,自动化焊接系统可以实现焊接自动化、焊接智能化,为高质量的完成焊接作业提供了保证。由于焊接操作对焊接工人有一定的身体伤害,而且人工焊接也不能连续作业,因此,自动焊接机器人的使用已经成为焊接行业的必然趋势。基于视觉传感系统的焊接机器人是自动焊接机器人发展的趋势,其中实现焊缝自动识别是控制系统的关键技术,此焊接系统可有效的解决现阶段焊接作业自动化程度不高和精度偏低等一系列问题。因此,开发一种抗扰能力强、处理速度快、处理误差最小化的基于摄像机图片焊缝视觉检测的焊接控制系统非常必要,这不仅可以避免焊接工人收到高温、毒气、放射性物质以及高粉尘的伤害,还可以使控制连续作业,大大提高焊接生产效率,有效减轻焊接工人的劳动强度。本文针对复杂的焊接环境设计了一种基于工业CCD摄像机焊缝图像处理的自动焊接控制系统。本文最先对摄像机的空间坐标系、图像的平面坐标系和CCD成像坐标系进行了标定,从而可以捕获高精度的工业CCD图像,滤除因工件反光和摄像机畸变产生的干扰,提高其抗干扰能力,并对该控制系统的视觉检测系统进行标定,主要包括摄像机坐标系标定和“手眼”坐标系标定。为了可以快速的从工业CCD捕获的焊接图像中准确的提取出焊缝特征信息,需要对待焊工件图像进行一系列的处理,采用邻域平均值滤波、迭代阈值分割和只提取局部信息等方法,快速、准确的从工业CCD中提取了焊缝特征信息。为实现自动化、智能化焊接控制系统,设计了控制界面,采用Open CV,Halcon,MFC混合编制了一套焊缝信息检测系统,该系统人机界面友好。本文通过大量反复试验,计算出本自动焊接系统检测误差在(2mm)内、耗时0.8s内。
[Abstract]:In the aspect of improving the efficiency and quality of welding work, the automatic welding system can realize welding automation and welding intelligentize, which provides the guarantee for the high quality welding operation. Because welding operation is harmful to welding workers and manual welding can not be operated continuously, the use of automatic welding robot has become an inevitable trend in welding industry. The welding robot based on the vision sensor system is the development trend of the automatic welding robot, and the realization of automatic welding seam identification is the key technology of the control system. This welding system can effectively solve a series of problems such as low degree of automation and low precision of welding operation at present. Therefore, it is necessary to develop a welding control system based on visual inspection of weld seam based on camera pictures, which has strong immunity, fast processing speed and minimal processing error, which can not only prevent welding workers from receiving high temperature, gas, The damage of radioactive material and high dust can also control the continuous operation, greatly improve the efficiency of welding production, and effectively reduce the labor intensity of welding workers. In this paper, an automatic welding control system based on industrial CCD camera welding image processing is designed for complex welding environment. In this paper, the camera space coordinate system, the plane coordinate system and the CCD imaging coordinate system are first calibrated, which can capture the high precision industrial CCD images and filter the interference caused by the reflection of the workpiece and the distortion of the camera. The anti-jamming ability is improved, and the visual inspection system of the control system is calibrated, including camera coordinate system calibration and hand-eye coordinate system calibration. In order to extract the weld characteristic information from the welding image captured by the industrial CCD quickly, it is necessary to deal with the welding workpiece image and use the neighborhood average filter. Iterative threshold segmentation and only local information extraction methods are used to extract weld characteristic information from industrial CCD quickly and accurately. In order to realize the automatic and intelligent welding control system, the control interface is designed, and a welding information detection system is developed by using Open CVC Halcong MFC. The system has a friendly man-machine interface. Through a large number of repeated experiments, it is found that the detection error of the automatic welding system is within 2 mm and the time consuming is within 0.8 s.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41;TP273

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