Multi-structured light binocular composite vision weld joint tracking method and device

A tracking device, multi-structure technology, used in auxiliary devices, welding equipment, welding equipment and other directions, can solve the problems of low precision, unable to eliminate leading errors, poor anti-interference ability, etc., to eliminate leading errors and improve anti-interference. Performance, compact effect

Inactive Publication Date: 2009-07-22
NANJING INST OF TECH
View PDF2 Cites 79 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Lu Minghao et al. published in "Mechanical Design and Manufacturing" (2008, No.7: 123-125) "Study on the Seam Tracking System of Spiral Steel Pipe Submerged Arc Welding Based on Structured Light" using multi-structured light technology for welding seam tracking. Tracking, but this technology has no essential difference from the single structured light technology, and still cannot eliminate the...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-structured light binocular composite vision weld joint tracking method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0017] Such as figure 1 As shown, the multi-structured light composite visual welding seam tracking device of the present invention includes a narrow-band filter 1, a neutral light-reducing film A, a camera A, a splash guard 5, a camera B, and a band-pass filter 8 (which can transmit light wave with a wavelength of 650nm), a neutral light reduction film B, a multi-line laser 10, and a controller 11. Both cameras are industrial cameras. Among them, the laser and the camera are packaged together, and are rigidly connected to a frame with the welding torch 4. The camera head is equipped with a light reduction sheet and a light filter, and the welding seam tracking device is fixedly connected to the welding torch. The plane intersects the plane formed by the welding seam and is perpendicular to the surface of the workpiece to be welded; the camera is connected to the controller cable through the signal line.

[0018] Above-mentioned controller 11 comprises computer and parts the...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a method and a device for tracking a multi-structure optical binocular composite vision weld joint, and relates to the technical field of automatic welding, in particular to the technical field of vision sensing of a welding robot. The device comprises a multi-line laser generator (10) for projecting a structured light stripe to a weld joint region, a vidicon A(3) which is provided with a narrow bandpass filter (1) and a neutral light reducing plate A(2) and is used for collecting a weld joint character laser stripe image, a vidicon B(7) which is provided with a bandpass filter (8) and a neutral light reducing plate B(9) and is used for collecting an image not including laser stripe, and a controller (11) connected with the vidicon A(3) and the vidicon B(7). The method integrates image information of two vidicons, and calculates the current perfect position of a welding gun so as to obtain differential value between the perfect position and the actual position; the controller converts the differential value into an analog signal or wireless communication to output; and the welding gun is controlled to correct deflection of an electromotor, so the aim of automatic tracking of the weld joint is realized.

Description

technical field [0001] The invention relates to a multi-structured light binocular composite vision welding seam tracking method and device, and relates to the technical field of automatic welding, in particular to the technical field of welding robot vision sensing. technical background [0002] At present, there are many kinds of sensing methods applied to welding robots. Among these sensing methods, the visual sensing method has the advantages of large amount of information, non-contact, fast, high precision and large detection range. Workers love it, and it has become a research hotspot in robot welding sensors. At present, the relatively mature research at home and abroad is the visual sensing method using laser or structured light. This sensing method is accurate in measurement and strong in anti-interference ability, but there is a disadvantage that there is a certain distance between the measurement point and the welding point. Leading error is easy to occur when cu...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B23K9/127B23K37/00B25J19/04
Inventor 肖增文刘极峰
Owner NANJING INST OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap