结构光视觉鲁棒焊接接头跟踪

针对焊接时严重的干扰降低了接头特征提取效率的问题,提出了一种预测-匹配-估计的闭环递推机制来完成起弧下的接头特征跟踪检测.通过对焊接接头位置与形状的预测给出了结构光轮廓信号在图像中所在的区域,进一步通过基于模型的轮廓匹配方法识别出焊缝接头,最后利用基于可信度的滤波方法估计出合理的焊接轨迹,结果表明,该方法不仅明显地提升了焊缝接头轮廓识别的成功率和实时性,即使在面对接头特征识别结果出现粗值或者提取失败的不利情况下,依旧能够保证焊缝跟踪的可靠性.

Robust joint tracking with structured-light vision sensing

The performance of joint feature extraction is degraded greatly during welding because of severe disturbances,so a prediction-matching-estimation combined close-looped iterated method is proposed for weld feature tracking.The position and shape of the joint stripe profile in the image is predicted at first,then the joint is recognized by a model-based profile matching method,and lastly the weld trajectory is filtered and estimated based on the confidence of the extracted feature.Experiments show that the method promotes the joint recognition results to ensure a robust and real-time weld seam tracking even in the face of gross error or failure occurrence in joint feature extraction.