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Automatic weld seam position based on circular laser vision sense

A visual sensing and automatic positioning technology, applied in welding equipment, welding equipment, arc welding equipment, etc., can solve problems such as low efficiency and difficulty in determining depth information, achieve enhanced operability, high efficiency and precision, and ensure real-time Detection effect

Inactive Publication Date: 2007-11-21
SHANGHAI JIAOTONG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a welding seam automatic positioning method based on ring laser vision sensing, so that it not only avoids the problem that the depth information of the welding seam is difficult to determine with traditional passive optical vision sensors, but also solves the problem of Solved the problem of low efficiency caused by the use of triangulation principle for welding seam positioning based on point laser, line laser and line array CCD vision sensor

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  • Automatic weld seam position based on circular laser vision sense
  • Automatic weld seam position based on circular laser vision sense
  • Automatic weld seam position based on circular laser vision sense

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Embodiment Construction

[0017] As shown in Figure 1, the point-shaped laser emitted by the laser diode is projected onto the surface of the welded workpiece to be detected through the scanning action of the rotating lens of the laser vision sensor. The area array CCD camera detects the weld seam and the ring laser track through the image acquisition card, realizes A / D conversion and collects it to the computer, and the computer uses the differential algorithm to identify the detected laser scanning track after image processing such as image filtering and image segmentation. Feature points. These feature points are where the welds are located. Finally, according to the proposed "circle radius and depth relationship" algorithm, the three-dimensional coordinates of the weld feature points in the laser cone coordinate system are obtained. And through the conversion relationship between the laser cone coordinate system and the robot world coordinate system, the three-dimensional coordinates of the weldin...

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Abstract

A method based on annular laser vision sensing for automatically locating the welded seam includes such steps as detecting annular laser tracings by CCD planar array, imaging on image sensing surface of camera, obtaining the expression equations for the X and Y coordinates of the characteristic points of said welded seam in conic coordinate system of laser, finding out the depth value of said characteristic point according to circular radius-depth relation algorithm, creating the equation for the Z coordinate of the characteristic point to be detected, finding it out, and converting the found out 3D coordinates from said conic coordinate system to the coordinate system of robot itself. Its advantage is high efficiency.

Description

technical field [0001] The invention relates to a method in the field of welding technology, in particular to an automatic welding seam positioning method based on ring laser vision sensing. Background technique [0002] The rapid development of robot and computer technology has made the welding automation degree increase day by day. Factors affecting the post-weld quality of automated welding include not only internal welding factors such as the thickness of the welded workpiece, surface treatment, and chemical composition of the welding material, but also important information such as welding method, welding speed, welding torch path planning, and workpiece position detection. Especially the three-dimensional position detection of the workpiece to be welded has always been an important problem faced by welding automation. The upgrading of the welding process to the level of automation and artificial intelligence requires the corresponding development of welding seam infor...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K37/00B23K37/06B23K9/127
Inventor 徐培全唐新华芦凤桂姚舜俞海良张伟沈冠群
Owner SHANGHAI JIAOTONG UNIV
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