基于机器人视觉的银网焊点定位技术研究

摘要

铅锌电池制作工艺过程中的银网焊接工序不仅存在肉眼识别不准确、出错率高的问题,而且劳动强度大、效率低.针对此工艺,提出一种基于机器人视觉的自动化焊点定位方法.系统以机器人搭载自动化焊接设备对焊点精确定位并焊接,采用畸变校正和机器人手眼标定完成了图像坐标系到机器人坐标系之间位置的精确变换,并运用Blob分析粗定位和基于形状的模板匹配精定位相结合的算法,有效地解决了噪声干扰、非线性光照干扰及银网变形引起的识别定位障碍,达到焊点识别定位精度高、生产效率高的目标.%The welding process of silver net in the production of lead-zinc storage battery has not only problems like inaccurate identification with naked eyes and high error rate,but also a high labor intensity and low efficiency.An automatic welding spot identification solution based on robot vision was brought up within this process.The system uses a robot carrying an automatic welding device to weld the spots after identifying them accurately,adopts the distortion correction technology and robot hand-in-eye calibration to complete the accurate positional shift from the image coordinate system to the robot coordinate system,applies Blod method to analyze the algorithm of the coarse positioning combined with the accurate positioning using shape-based template matching technique,removes the barricades to accurate identification and positioning caused by noise jamming,nonlinear light interference and deformation of the silver net,finally achieves the goal of highly accurate identification and positioning and high efficiency.