The invention discloses a method and a
system of three-dimensional
weld seam tracking based on visual and rotary
electric arc composite sensing. The method comprises the following steps that two position images of a
weld seam to be welded is acquired through a
binocular vision sensor; according to the obtained two position images, three-dimensional coordinates of the
weld seam to be welded are calculated by adopting an
image processing method; a weld current
signal is acquired through a rotary
electric arc sensor; a deviation value of a
welding gun and a weld seam center is calculated according to the weld current
signal; the three-dimensional coordinates and the deviation values are subjected to fusion
processing to generate a three-dimensional deviation value of the weld seam; accordingto the three-dimensional deviation value of the weld seam, a PID control method is adopted for carrying out real-time tracking on a
robot hand; and the
system comprises an
image acquisition module, acoordinate calculation module, a
signal acquisition module, a deviation value calculation module, a fusion
processing module and a tracking module. According to the method and the
system, the anti-interference capability, the precision and the weld seam stability are improved, and the method and the system can be widely applied to the technical field of
welding automation.