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.
Target tracking is an important research direction in the field of machine vision. How to quickly track the target position in the time-series images is a key issue that has been widely studied. The search method determines whether the best motion vector can be quickly found, it also has an important impact on the efficiency of the measurement. The paper proposes a fast template search method for multi-scale moving target tracking, which can achieve tracking and searching targets in dynamic scenes, and measures the moving distance of the target. Compared with full search algorithm and three-step search algorithm, the measurement method in this paper can reduce the number of searches on the basis of guaranteeing the measurement accuracy. The search algorithm can avoid trapping in local optimum. For the content of the research, a discrete sampling method is proposed to solve the problem of starting point and initial step setting of the three-step search algorithm.
In order to achieve automatic welding of casing welds in complex industrial environments, a casing weld visual identity method is proposed. Firstly, the pipe is detected by combining grayscale characteristics and color characteristics. Secondly, the weld potential regions are obtained by the morphological operation. Finally, weld seam identification is realized based on the positional characteristics of the casing weld on the copper pipe. Experimental studies verified the effectiveness of the method in complex environments.
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