The invention relates to a large-break-angle
welding seam tracking and obstacle
prediction system based on binocular four-line vision sensing, and is applied in the field of
welding automation and
welding seam tracking. The
system is technically characterized by comprising a crossed four-line type
laser visual system, a single-line type
laser displacement
sensing system, an intelligent
visual processing computer
system, two industrial wide-angle lenses, two dimming and filtering systems, a support, a box body and a cover plate. According to the
system, a welding-seam-like track of a full-
pose large-break-angle workpiece is obtained through the crossed four-line type
laser vision system; through synchronous scanning laser rays of the intelligent
visual processing computer system on the crossed four-line type laser
visual system, shooting by the industrial lenses and
processing of light rays by the dimming and filtering systems, the
assembly clearance of the large-break-angle workpiece is obtained; meanwhile, transverse distance data are obtained through the single-line type laser displacement
sensing system; and welding seam tracking and obstacle prediction of the large-break-angle workpiece are realized through
data processing fusion of the welding-seam-like track of the full-
pose large-break-angle workpiece by the intelligent
visual processing computer system, the
assembly clearance of the large-break-angle workpiece and the transverse distance data.