激光焊接中窄焊缝特征解耦检测及多约束的视觉跟踪

项目名称： 激光焊接中窄焊缝特征解耦检测及多约束的视觉跟踪

项目编号： No.61203275

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 陈海永

作者单位： 河北工业大学

项目金额： 24万元

中文摘要： 焊缝跟踪是焊接机器人智能化的核心问题，具有重要的研究意义。但在激光焊接中窄焊缝视觉跟踪理论研究上，如特征检测、视觉跟踪等方面有许多问题有待解决。为此，本项目以激光焊接空间曲线窄焊缝为背景，开展如下工作：1）窄焊缝图像特征解耦提取算法，提出基于相位编码核变换的方法，实现亚像素精度的中心线提取，利用基于距离搜索和视觉系统的解耦映射原理获取图像特征点；2）根据焊接环境干扰的重复性特征和非高斯分布特性，提出基于迭代学习和Renyi熵性能指标的滤波器设计方法，以解决图像特征点的最优估计问题；3）考虑视场约束、焊缝特征偏移量约束、控制量约束等条件，提出基于非线性视觉模型的窄焊缝跟踪视觉预测控制方法，实现激光束末端实时跟踪窄焊缝。本项目的预期成果不仅有助于解决窄焊缝的鲁棒、解耦、优化识别与多约束下的视觉跟踪等关键问题，也为机器人利用视觉系统识别微小目标，实现激光光束跟踪目标轨迹提供必要的理论基础。

中文关键词： 激光焊接；焊缝跟踪；图像处理；预测控制；机器人

英文摘要： The seam tracking has been a core problem for realizing the intelligence of robotic welding, which is a very important and valuable research topic.However,some scientic problems have still been open, such as feature detection and visual tracking of narrow seam for laser welding.Thus the project will study the follwing work under the background of the laser welding space curve narrow seam.First,narrow seam image feature extraction algorithm is designed. The phased coded kernel transformation method is proposed to focus the desired zone to a centerline, and then the robust and sub-pixel centerline can be obtained. Furthermore,the seam image feature point is gotten by employing the distance searching method and decoupling mapping principle of the designed visual system. Second,the repetive and non- Gaussian distribution characteristcs of the disturbance during the laser welding is analysized, then the minimum entropy filter design method is proposed by using the iterative frame and Renyi entropy performance index function.So,the optimal estimation of the seam image feature point can be solved. Third, the narrow seam tracking visual predictive tracking method is presented by using the nonlinear vision model and optimization design tool, which can drive the laser end to tracking the narrow seam in realtime. At the sa

英文关键词： laser welding；seam tracking；image processing；predictive control；robot