Seam tracking method based on template matching

Abstract

The invention discloses a seam tracking method based on liner laser imaging, and the seam tracking method comprises the following steps of step1, equipment calibration: adjusting a linear laser source generator, adjusting the position of a welding gun, fixing a charge coupled device (CCD) camera right in front of the welding gun, collecting an image and transmitting the collected image to a computer; step 2, setting a template; step 3, setting an interesting area; step 4, carrying out the template matching and acquiring a position deviation of the center of a weld seam; step 5, if an image which is matched with the template is found, compensating the deviation of the position of the welding gun; step 6, returning to the step 3 if no image which is matched with the template is found; and step 7, stopping a motor if the finding times of the image which is matched with the template is greater than a set threshold value. Due to the adoption of the seam tracking method, the position of a seam can be precisely positioned in the welding position, the seam tracking accuracy and reliability can be improved, the method is applicable to the tracking of the seams in different shapes, and a purpose for automatically tracking the seam in the welding process can be realized.

Description

technical field [0001] The invention belongs to the field of image processing, and relates to an automatic welding technology, in particular to a welding seam tracking method based on template matching of linear laser imaging. Background technique [0002] The welding process of the weld seam is a complex, nonlinear process with many interference factors. There are unpredictable factors such as thermal deformation, undercut, misalignment, and changes in the weld gap of the welded workpiece. These factors will directly affect the welding process. quality. During the welding process, there will be certain errors between the welding torch and the center of the weld seam. If real-time welding seam deviation correction can be performed on the basis of "teaching and reproduction" or trajectory planning application, the welding accuracy can be further improved, especially suitable for auxiliary engineering welding Production of workpieces that are difficult to control by automati...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a seam tracking method based on template matching, to solve the technical problems of large seam tracking deviation and poor algorithm adaptability;

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