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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。
Lead-zinc battery manufacturing process of silver mesh welding process not only exist inaccurate visual identification, high error rate problems, and labor-intensive, low efficiency. In view of this technology, a robot welding method based on robot vision is proposed. The robot is equipped with automated welding equipment to precisely locate and weld the solder joints. The distortion correction and robotic hand-eye calibration are used to accurately transform the image coordinate system to the robot coordinate system. Blob analysis is used for rough positioning and shape-based template matching Precision positioning algorithm, effectively solve the noise interference, non-linear light interference and silver mesh deformation caused by the identification of positioning obstacles to achieve solder joint recognition and positioning accuracy, high production efficiency goals.