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Chen Xizhang
Zhu Zhenyou
Chen Wenjie
Chen Shanben
Institute of Welding Engineering,
Shanghai Jiaotong University,
Shanghai 200030, China |
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VISION-BASED
RECOGNITION AND
GUIDING OF INITIAL WELDING
POSITION FOR ARC-WELDING ROBOT*
Abstract:
A method is put forward to realize the recognition and guiding of initial welding position. The weld seams are marked with black lines, which simplify the computational complexity of image processing greatly. A two-time template matching method has been advanced to search for the target point, which is simple and has higher calculation speed. According to the depth computing principle with the special point matching using binocular stereovision, the initial welding position can be confirmed by calculating the middle point of the perpendicular line of two radials in the space. Taking the welding of propellant fuel container for example, good results are obtained with the algorithms. Finally, similar method for terminating welding position is also advanced.
Key words:
Arc-welding robot Binocular vision Guide Recognition Propellant
fuel container |