Research on three-dimensional positioning method of casing welds based on binocular vision

摘要

Many researchers have done a lot of research in the fields of welding automation and welding robots. The existing technology can achieve better results in applications where the shape and position of the weld are relatively fixed and the weld is easier to identify. For welds with inconspicuous appearance, irregular shape and complicated background such as the casing weld on copper pipe of refrigerator compressor. The existing technology is difficult to achieve stable and accurate automatic positioning and tracking of welds. In this paper, a three-dimensional positioning method for casing welds of copper pipe based on binocular vision is proposed. Firstly, Zhang's calibration method is used to compute the intrinsic and external parameters of the binocular vision measurement system. Secondly combine with morphological operation and basic image operation, the casing welds in complex scenes are segmented accurately. Finally, the binocular measurement model is used to complete the three-dimensional positioning and tracking of the casing welds in complex scene. The measurement results show that the measurement accuracy of the system can meet the requirements of vision guided automatic welding.