| 基于视觉传感的焊缝跟踪系统研究现状 |
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| 引用本文： | 郭志鹏'',于治水'',张培磊'',王曼'',陈 磊''. 基于视觉传感的焊缝跟踪系统研究现状[J]. 华南农业大学学报(社会科学版), 2016, 34(5) |
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| 作者姓名： | 郭志鹏'' 于治水'' 张培磊'' 王曼'' 陈 磊'' |
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| 作者单位： | 1．上海工程技术大学材料工程学院，上海201620；2．上海工程技术大学高强激光智能加工装备关键技术产学研开发中心，上海201620 |
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| 基金项目： | 国家自然科学基金( 51375294)；上海市自然科学基金(12ZR1444500)；上海市科委地方高校能力建设项目(13160501200)；上海市教委创新项目(14Y2139)；上海工程技术大学校基金（2012gp21）；上海工程技术大学研究生科研创新项目(15 KY0512)。 |
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| 摘 要： | 视觉传感技术在焊接机器人上的应用，大大提高了机器人的焊接效率和焊接质量。文中介绍了基于视觉传感的焊缝跟踪系统的分类及主动视觉和被动视觉技术的基本原理；分析了图像处理技术的滤波去噪、图像分割与边缘检测和特征分析等研究方法；分析了焊缝跟踪系统的控制结构和智能控制技术的应用现状。最后提出根据视觉传感系统测得焊缝的信息，实时调节焊接参数以及焊枪角度等工艺参数进行自动化和智能化焊接是未来发展方向。
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| 关 键 词： | 焊接机器人；视觉传感；焊缝跟踪；图像处理 |
Research Status of Seam Tracking Technology Based on Visual Sensing |
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| GU hipengl,YU hishujl,ZHANG Peilejl.,WANG Manl,CHEN Lejl. Research Status of Seam Tracking Technology Based on Visual Sensing[J]. Journal of South China Agricultural University:Social Science Edition, 2016, 34(5) |
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| Authors: | GU hipengl YU hishujl ZHANG Peilejl. WANG Manl CHEN Lejl |
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| Affiliation: | 1. School of Materials Engineering,Shanghai University of Engineering Science,Shanghai 201620 ,China;2. Research & Development Center for Key Technologies of Intelligent Ultra-Intense Laser Processing Equipment,Shanghai University of Engineering Science , Shanghai 201620 , China |
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| Abstract: | The application of vision sensing technology in robot welding has greatly improved the welding efficiency andwelding quality. The weld seam tracking system with visual sensor classification and the basic principle of active visionand passive vision technology was introduced. The image processing technology about filtering noise, imagesegmentation, edge detection and characteristic analysis were analyzed. The application status of the seam trackingsystem control structure and intelligent control technology were introduced. The development direction of welding robotsystem based on vision sensing was discussed. Real-time adjustment of the parameters welding and welding gun angles. |
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| Keywords: | welding robot visual sensor seam tracking image processing |
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