[IEEE 2018 International Symposium in Sensing and Instrumentation in IoT Era (ISSI) - Shanghai, China (2018.9.6-2018.9.7)] 2018 International Symposium in Sensing and Instrumentation in IoT Era (ISSI) - Research on Tube-plate Welding Robot Based on Binocular Vision

摘要： Based on double-book study, a set of tube-tube welding robot based on binocular vision positioning system was designed to achieve real-time tracking of welds. In addition, the feature point binocular visual positioning method and identification in the welding process are also studied and analyzed. The tube plate welding robot was used as a platform, and the tube plate welding test was completed with image processing technology and MATLAB software. The test results show that the method can identify the coordinates and radius of the welding circle. The maximum deviation of the tungsten needle from the center of the weld is within 0.1 mm. The welding torch can be accurately positioned and the real-time detection performance is greatly improved. The tube-plate welding robot of the visual positioning system realizes the real-time tracking of the weld. In addition, the binocular vision positioning method and feature point identification in the welding process were studied and analyzed.