CirLoc3D-Visual Location Method for Robot Automatic Tube Plate Welding System

摘要

This paper mainly introduces a Cirloc3D-vision location method used in robot tube plate welding. The visual position system uses a point laser sensor to measure the photo height, and can through three points to ensure a place to correct the camera posture. The captured image is used to extract the location information by the template matching method and searching the center of a circle's method. Then the information is sent to the robot and leads the robot to run to the specified position. Finally the welding gun at the end of the robot begins to perform the precision welding of the tube plate. This method is fast and accurate, so it can provide accurate position and orientation information for six axes industrial robots.