Research on real-time tracking algorithm of weld seam based on Fourier Transform Profilometry

摘要

With the continuous development of robotic welding automation, the weld seam tracking system plays a decisive role inguiding the welding robot to perform accurate and real-time space welding operations. At present, the seam tracking ismostly performed by a laser with a laser. The laser triangulation method is used to identify and judge the position of theinflection point of the line segment in the image. However, the identification method relies heavily on the processingalgorithm of the inflection point position in the image, and the recognition result lacks welding. Sewing space poseinformation. Therefore, how to obtain the full spatial information of the weld by the collection and processing of the lineand the surface is of great significance to the development of the weld tracking. The grating projection technique basedon Fourier transform profilometry can realize the full collection of the local information of the weld seam. Through thesubsequent algorithm processing of the local features, the whole feature information of the weld seam is continuouslyextracted to guide the space position and attitude of the weld gun. Avoid the deviation of traditional weld seam trackingdue to unmatched factors such as weld joints and bumps in the weld. On this basis, the correlation feature recognition ofthe collected spatial point cloud is proposed. Based on the proximity probability feature extraction method, accurate andreal-time identification and tracking of non-standard welds are realized. Finally, the experimental results show that theweld seam tracking based on Fourier transform profilometry is more complete and accurate for the full-featureinformation of the weld seam, and has better recognition effect.