Welding device and method based on binocular vision sensing of structured light

Abstract

The invention discloses a welding device based on the binocular vision sensing of structured light. The welding device comprises an installation bracket, a structured light emitter, a data storage unit, a binocular vision system, an automatic welding device and a motion control system, wherein the structured light emitter is used for positioning the center of a pipe plate pattern to be welded and movably arranged on the installation bracket; the data storage unit is used for storing the position information of the pipe plate pattern to be welded, which is obtained by the structured light emitter; the binocular vision system is provided with a first vision device and a second vision device which are movably arranged on two sides of the structured light emitter; and the motion control system is used for controlling the three-degree-of-freedom motion of the automatic welding device during welding of the pipe plate pattern to be welded. The welding device based on the binocular vision sensing of the structured light has the advantages that by using the binocular vision system and adopting a spatial circle identification algorithm, the center of the pipe plate pattern to be welded in a certain inclination angle range can be identified; the characteristic points can be quickly and accurately identified; image processing speed is increased; and the positioning speed of a system pipe hole is greatly increased.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a welding device based on structured light binocular vision sensing. Background technique [0002] In the manufacture of heat exchange in chemical industry, power station, boiler and other industries, there are a large number of welding tasks between tubes and plates. This kind of welding is difficult, requires high quality, and requires a lot of work. At present, in the domestic market, tube-tube-sheet welding equipment is usually a semi-automatic welding method, and manual hand-held welding guns must be used to manually align holes and manually check welding quality. Under high-intensity work, it is essential to bear welding arc radiation and smoke pollution, which seriously affects the health of workers. Therefore, the development of welding technology has always been a concern of those skilled in the art. [0003] Chinese patent CN201076976Y discloses a coaxial tube-sheet...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to provide a binocular vision sensor based on structured light for the defects in the prior art that the traditional welding device needs manual visual recognition, the recognition process takes a long time, the operation is cumbersome, it poses a great threat to health, and the level adjustment is relatively difficult. welding device

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