【摘要】 采用机器视觉采集大型焊接件局部特征区域图像,根据大型焊接件的自身特点和焊接现场环境,通过数字图像处理方法,提取焊接件的特征区域并使用Hough变换计算出特征点的位置;采用"一目双位"方法,从局部到整体判断两个特征点的偏移量,从而计算出工件整体在平面内的偏移;通过计算机与机器人的通信,修改机器人的示教文件,更新焊接机器人的初始引导位置与修正机器人行走路径,最终完成对焊接件的定位与机器人自主示教。更多还原

【Abstract】 Machine vision acquisition of large weldments local feature regions of the image,according to its own characteristics and welding field environment of large weldments,through digital image processing method to extract the feature region weldments and use Hough transform to calculate the position of the feature points; adopt "a head double-digit " approach,from the local to the whole,to determine the offset of two feature points to calculate the overall shift in the plane of the workpiece;via computer to communicate with the robot,the robot teach modify files,update welding robot the initial position and fix the robot guided walking track,the final completion of the positioning and autonomous robotic welding pieces teach.更多还原