摘要
焊接作为钢结构桥梁建设中常见的连接方式,其自动化与智能化程度直接影响施工质量和效率,而其中焊缝的精准识别与跟踪是实现智能焊接的关键技术之一。然而,钢材表面通常具有高亮度、高反射特性,对焊缝的识别会产生严重干扰。此外,钢结构在正式焊接前,通常需要进行定位焊以固定工件的相对位置,现有焊缝跟踪技术难以实现定位焊点跳焊,重复焊接可能会导致诸多不良问题。提出了一种基于线结构光视觉技术的空间间歇角焊缝识别与跟踪方法。首先,针对含有线激光条纹的焊缝图像,采用中值滤波去除焊缝图像的散斑噪声;其次,基于图像灰度特征提取激光条纹中心点;最后,基于改进RANSAC算法对提取的激光条纹中心点进行拟合,得到特征直线及交点(即焊缝特征点),从而实现对连续段焊缝和间歇段焊缝的精准判别。试验结果表明:与机器人示教路线相比,该方法提取的焊缝路径最大误差为1.56 mm,平均处理时间为0.17 ms·帧^(-1)。该研究为钢结构间歇角焊缝的机器人跳焊提供了可行的解决方案。
Welding is a common connection method widely used in the construction of steel structure bridges.Identification and tracking of weld seam is one of key technologies for achieving automated and intelligent welding.However,Steel surfaces typically have high brightness and reflectivity,which severely interfere with seam recognition.Moreover,tack welding is usually required before welding to fix the relative positions of the workpieces in steel structure.Existing seam tracking technologies struggle to handle intermittent welding at tack points,and repeated welding may lead to numerous adverse issues.Therefore,a method for intermittent fillet seam identification and tracking based on line structured light vision is proposed.Firstly,for weld seam images containing laser stripe patterns,median filtering is employed to remove speckle noise from the weld seam images.Secondly,the center points of the laser stripes are extracted based on image grayscale features.Finally,an improved RANSAC algorithm is used to fit the extracted laser stripe center points,obtaining the feature lines and their intersections(i.e.,weld seam feature points),thereby achieving precise discrimination between continuous and intermittent weld seams.Experimental results show that compared with the robot's taught path,the maximum error of the weld seam path extracted by this method is 1.56 mm,with an average processing time of 0.17 ms per frame.This study provides a feasible solution for robot jump welding of intermittent fillet welds in steel structures.
作者
孔烜
唐浩
易金鑫
李金钊
邓露
KONG Xuan;TANG Hao;YI Jin-xin;LI Jin-zhao;DENG Lu(College of Civil Engineering,Hunan University,Changsha 410082,Hunan,China;State Key Laboratory of Bridge Safety and Resilience,Changsha 410082,Hunan,China;Hunan Provincial Key Laboratory for Damage Diagnosis of Engineering Structures,Hunan University,Changsha 410082,Hunan,China)
出处
《中国公路学报》
北大核心
2025年第6期135-145,共11页
China Journal of Highway and Transport
基金
国家自然科学基金项目(52108434)。
关键词
桥梁工程
智能建造
焊缝跟踪
线结构光视觉
角焊缝
机器人焊接
自动跳焊
bridge engineering
intelligent construction
weld tracking
line structured light vision
fillet welds
robotic welding
automatic skip welding
