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Method for visually tracking plane abut-jointed weld beam by linear laser

A technology for visual tracking and butt welding, applied in laser welding equipment, welding equipment, metal processing equipment, etc., can solve problems such as reducing production efficiency, increasing the difficulty of image processing, and affecting tracking accuracy.

Active Publication Date: 2012-01-04
JIANGNAN UNIV
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Problems solved by technology

[0003] At present, the commonly used methods for automatic welding seam tracking are: the target control method of a given trajectory or the image processing method of monitoring welding points. The former is time-consuming and laborious and reduces production efficiency; the latter increases the difficulty of image processing and affects the tracking accuracy.

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  • Method for visually tracking plane abut-jointed weld beam by linear laser
  • Method for visually tracking plane abut-jointed weld beam by linear laser
  • Method for visually tracking plane abut-jointed weld beam by linear laser

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Embodiment Construction

[0043] In order to improve the automation level of plane butt weld welding, the present invention develops a method for line laser vision tracking plane butt weld. The calibration technology algorithm has a small amount of code, fast operation speed, high precision, strong real-time performance, and good stability, which can improve the disadvantages of traditional measurement, reduce costs, and improve production efficiency.

[0044]The invention uses a band-pass filter and a CCD to collect laser light strips to scan welding seam images, uses a central axis transformation algorithm to refine the light strips, projects the thinned skeleton, and determines the weld seam position by detecting continuous zero segments , determine the center of the weld by corresponding to the end points of the continuous zero area; automatically extract the coordinates of the checkerboard corner points and match their own corresponding world coordinates, complete the calibration of the camera and ...

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Abstract

The invention discloses a method for visually tracking a plane abut-jointed weld beam by a linear laser aiming at the complex condition of a welding site. The method comprises the steps of: building a weld beam tracking system, establishing a coordinate system model of each part of the weld beam tracking system, calibrating a system structure by adopting a checkerboard target and a point laser; passively scanning a weld beam by a linear laser, stable and accurately positioning a laser weld beam center by adopting a weld seam center detection technology; and flexibly changing the detection distance between a weld point and an image through setting delay time by a user. According to the method, the influence on the quality of the image by arc light and spattering can be effectively avoided, small breakage of a laser bar is effectively resisted, and automatic tracking of the plane abut-jointed weld beam is stably and accurately realized on line. The method has an important significance on realizing the welding automation.

Description

technical field [0001] The invention relates to a method for tracking plane butt welds with line laser vision, which is used for automatic tracking of plane butt welds. Background technique [0002] As an important means of material processing, welding is widely used in industrial production. Due to the promotion of many factors, such as the stability of welding quality, flexibility of application, safety and economy of operation, etc., automation and robotization of welding process have become a trend. The survey shows that welding robots have shown relatively high advantages in technological transformation of the manufacturing industry, improvement of welding quality, reduction of labor intensity of workers, and improvement of welding working conditions. With the development of industries such as machinery, electric power and materials, welding technology has become a very important metal thermal processing technology. Modern production puts forward further requirements ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K26/42B23K26/20B23K26/24B23K26/70
Inventor 白瑞林孟伟李龙
Owner JIANGNAN UNIV
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