基于单目视觉的初始焊位导引技术

针对传统焊缝起始点自动导引技术所采用立体视觉方法存在系统复杂、导引过程繁琐等问题，提出了一种基于eye-in-hand单目视觉的焊缝初始位置导引方法.首先调节机器人关节并获取不同位姿下焊缝初始位置图像，然后建立经过初始焊位点的直线方程，并将其转换到位于机器人基坐标系下.进一步求取上述两直线交点，最终确定初始焊位在机器人基坐标系下的三维坐标，以此引导机器人运动.结果表明，该方法能够在保证精确度的情况下实现对焊缝起始点进行导引.

Guidance method of initial welding position based on monocular vision

A guidance method of initial welding position based on eye-in-hand single eye vision is proposed, this method could be used to overcome the shortcomings of traditional stereo vision guidance method, such as the complex vision system and tedious guide process. At first, the initial welding position could be obtained through several images respectively from different robot configuration, then the linear equation which is including the point of the initial welding position is established, and this equation is transformed into the base coordinate of robot. Furthermore, the intersection point of two lines is calculated, the coordinate of initial welding position is calculated and used to guide the robot welding at last. The test results show that this method could be used to guide the welding robot in finding the initial welding point with the accuracy.