Guiding the welding robot to the initial welding position with visual method

摘要

Using step pattern match technology with variational resolution can recognize the position and orientation of the weld seam in the image.According to using the image segmentation method based on pattern match,not only advanced the speed and anti-jamming capability,but also captured the edge information of the weld seam and the edge of the workpiece,and the image coordinate of the initial welding position can be obtained.The matrix for hand-eye relationship of the robot can be calculated by adopting the rapid calculation method.According to the depth calculating 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,and the function to guide the welding robot to the initial welding position can be realized.