将激光焊接头与CCD视频跟踪模块集成在一起,提出一种采用一字线激光进行自动化焊缝检测的方法。该方法利用激光三角测量法,得到焊缝的高度、宽度等形状信息。在图像处理方面,对所获得的焊缝区域图像进行中值滤波和二值化处理,获得焊缝特征点二维坐标,实现目标定位,并计算其在世界坐标系下的三维坐标。在跟踪算法方面,采用精度高、速度快的核相关滤波器目标跟踪算法,分别对常见的直线型和曲线型焊缝位置进行跟踪。实验所得数据拟合曲线与焊缝形态误差在5%以内,吻合度较高,实时跟踪效果良好。

The laser welding head is integrated with the CCD video tracking module, and a method for automatic seam detection based on a word line laser is proposed. This method uses laser triangulation to obtain the height, width, and other shape information of the weld. In the aspect of image processing, we perform median filtering and binarization on the obtained weld area image to obtain the two-dimensional coordinates of the weld feature points, achieve target position and calculate its three-dimensional coordinates in the world coordinate system. In the tracking algorithm, we use high accuracy and high speed kernel correlation filters target tracking algorithm to track the positions of common straight and curved welds. The verification experimental results show that the fitting curve and weld shape error are within 5%, the degree of coincidence is high, and the real-time tracking effect is good.