Research On Vision Recognition And Trajectory Planning Of Automatic Weld Grinding Robot

As the main method of oil and natural gas transportation,pipeline transportation has played an important role in the development of the national economy,and spiral steel pipes are the most widely used.According to my country's pipeline transportation assembly line construction standards,the grinding of pipe end welds is the most critical step.Traditional grinding tasks rely on manual or semi-automated equipment.The production efficiency is low and the grinding quality is poor,which greatly restricts pipeline transportation.Construction efficiency.In order to solve this practical problem,based on the background of the welding seam grinding of the spiral steel pipe,this paper designs and develops a fully automatic welding seam grinding robot,which integrates welding seam recognition and tracking,trajectory planning,automatic grinding and grinding.The integration of quality inspection and other technologies has greatly improved the grinding quality and efficiency of spiral steel pipe end welds,and provided basic technical support for other types of equipment manufacturing in the industry.The main research contents of this paper include:(1)Research on recognition and calibration of weld contour features.For the preprocessing of weld profile data,the median filtering method is selected to filter the data;for the identification of welds,a recognition method based on the sum of squares of residuals,a recognition method based on template matching,and a The recognition method based on segmentation search can effectively solve the problem of welding seam identification.Aiming at the problem of welding seam feature point calibration,the farthest distance method and slope analysis method are proposed to calibrate the left and right inflection points of the weld seam,which can accurately identify the characteristics of the weld seam.And complete the feature point calibration.(2)Research on overall workflow design and grinding trajectory planning.The overall work flow of the system is designed,and the main functions to be realized by the system are discussed in detail;for the tracking problem of the weld seam,the "segment recognition" strategy is proposed and the program is realized in Lab VIEW.According to the welding seam data recorded in the whole tracking inspection process,the welding seam contour was reconstructed in three dimensions;for the welding seam grinding trajectory planning problem,the welding seam grinding trajectory was carried out according to the "segment recognition" strategy and combined with the floating height grinding The plan was proposed,and the calculation formula of weld reinforcement was put forward,and the grinding quality was checked twice.(3)Robot welding seam recognition and tracking and polishing experiment.In the experiment,the reliability of welding seam identification,welding seam feature point calibration,and welding seam tracking detection was verified,and the grinding experiment of inner and outer welding seams was completed,and the grinding quality was tested.The grinding quality was good.The equipment runs stably.The experimental results verify that the fully automatic weld grinding robot designed and developed in this paper has high grinding quality,stable operation and good practicability,and can meet the requirements of industrial field for grinding spiral steel pipe end welds.