基于机器视觉的白车身顶盖焊接质量控制方法研究

发布时间：2018-01-19 21:35

本文关键词： 机器视觉视觉引导图像处理白车身焊接　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：本文提出了一种基于机器视觉的白车身顶盖焊接质量控制方法,该方法主要是针对某一系列轿车车型,基于机器视觉获取白车身顶盖区域的三维位姿信息,并将该三维位姿发送给机器人,与机器人形成闭环控制,在线引导机器人快速准确地将已抓取的顶盖输送到白车身相应位置,保证白车身顶盖焊前初始位置的准确性,进而保证白车身顶盖的焊接质量。首先,研究了白车身顶盖焊接质量视觉控制系统的标定流程及方法,对相机及手眼系统进行标定;其次,为了提取白车身顶盖区域的特征点,分析研究了白车身顶盖区域特征点提取的图像处理流程及方法;再次,构建了白车身顶盖区域实际特征点与像素特征点的几何映射模型,求解出白车身顶盖区域特征点的位姿信息;然后,提出基于多特征点约束的三维位姿转换模型,将白车身顶盖区域多个特征点的三维位姿信息转化成单个特征点的三维位姿,即机械手末端目标点的三维位姿信息。最后,分析白车身顶盖焊接质量视觉控制系统的运行原理及功能需求,构建了系统的软硬件架构,在此基础之上,设计开发了白车身顶盖焊接质量视觉控制原型系统。希望能为汽车企业设计白车身顶盖焊接工艺提供一种新的参考模式与实现途径。
[Abstract]:In this paper, a method of welding quality control of white body cover based on machine vision is proposed. This method is mainly for a series of car models, based on machine vision to obtain the three-dimensional position and attitude information of the top cover area of white body. The 3D pose is sent to the robot to form a closed-loop control with the robot, and the on-line guidance robot can quickly and accurately transport the grabbed top cover to the corresponding position of the white body. Ensure the accuracy of the initial position before the white body cover welding, and then ensure the welding quality of the white body top cover. Firstly, the calibration process and method of the visual control system of the white body top cover welding quality are studied. Calibration of camera and hand-eye system; Secondly, in order to extract the feature points of the white body cover region, the image processing flow and method of feature point extraction in the white body cover area are analyzed and studied. Thirdly, the geometric mapping model between the actual feature points and the pixel feature points in the white body cover region is constructed, and the position and orientation information of the feature points in the white body cover area is solved. Then, a 3D position and pose transformation model based on multi-feature points constraint is proposed, which transforms the 3D pose information of multiple feature points in the top cover of white body into that of a single feature point. That is the three-dimensional position and pose information of the target point at the end of the manipulator. Finally, the operating principle and functional requirements of the visual control system for welding quality of the top cover of the white body are analyzed, and the software and hardware architecture of the system is constructed on this basis. A prototype system of visual control for welding quality of white body roof is designed and developed. It is hoped that this system can provide a new reference mode and realization way for automobile enterprises to design the welding process of white body top cover.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41

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