简介:Usingsteppatternmatchtechnologywithvariationalresolutioncanrecognizethepositionandorientationoftheweldseamintheimage.Accordingtousingtheimagesegmentationmethodbasedonpatternmatch,notonlyadvancedthespeedandanti-jammingcapability,butalsocapturedtheedgeinformationoftheweldseamandtheedgeoftheworkpiece,andtheimagecoordinateoftheinitialweldingpositioncanbeobtained.Thematrixforhand-eyerelationshipoftherobotcanbecalculatedbyadoptingtherapidcalculationmethod.Accordingtothedepthcalculatingprinciplewiththespecialpointmatchingusingbinocularstereovision,theinitialweldingpositioncanbeconfirmedbycalculatingthemiddlepointoftheperpendicularlineoftworadialsinthespace,andthefunctiontoguidetheweldingrobottotheinitialweldingpositioncanberealized.
简介:AccordingtothemaintoolsofTRIZ,thetheoryofinventiveproblemsolving,anewflowchartoftheproductconceptualdesignprocesstosolvecontradictioninTRIZisproposed.InordertorealizeautonomousmovingandautomaticweldseamtrackingforweldingrobotinTailedWeldedBlanks,acreativedesignofroboticvisualtrackingsystembasedonCMOShasbeendevelopedbyusingtheflowchart.Thenewsystemisnotonlyusedtoinspecttheworkpieceaheadofaweldingtorchandmeasurethejointorientationandlateraldeviationcausedbycurvatureordiscontinuityinthejointpart,butalsotorecordandmeasuretheimagesizeoftheweldpool.Moreover,thehardwareandsoftwarecomponentsarediscussedinbrief.