Automatic welding seam tracking method based on laser vision sensing

Abstract

The invention relates to a weld tracking method in the technical field of welding, overcomes the defect that tracking precision is affected by lagged control caused by the fact that single feedback is used only to control a welding torch in the existing automatic weld tracking method, and provides an automatic weld tracking method based on laser vision sensing. The method includes: using a camera to continuously acquire weld image information, processing by a master control computer to obtain actual weld deviation to form feedback control, processing by the master control computer to obtain weld trajectory curvature (slope) information, and predicting a feedforward to form feedforward control; combining the feedback control and the feedforward control into feedforward feedback, calculating expected adjustment of the welding torch, and controlling the welding torch to move forward along a weld. The automatic weld tracking method based on laser vision sensing has the advantages that actual weld deviation of the welding torch can be calculated while a detection position of a sensor leads the welding torch, next weld direction can be predicted, and weld tracking precision and effect are improved greatly.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to an automatic welding seam tracking system and method based on laser vision sensing. Background technique [0002] Seam tracking is an urgent problem to be solved to realize welding automation. At present, laser vision sensing is one of the most promising welding seam tracking sensing methods, which is favored by people and gradually popularized and applied in welding production. The laser vision sensor is fixedly connected with the welding torch tracking mechanism, and the sensor is installed in front of the welding torch to detect the position information of the welding seam. The sensor transmits the image information to the image acquisition system, and obtains the position information of the weld through image processing, compares the position of the welding torch with the position of the weld, and calculates the deviation of the welding torch from the weld, that is, the dev...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the deficiency that the existing welding seam automatic tracking method relies on single feedback to control the welding torch to produce hysteresis control, which affects the tracking accuracy, and provides an automatic welding seam tracking system with laser vision sensing. When the sensor detection position is ahead of the welding torch , it can calculate the actual welding seam deviation of the welding torch, and at the same time predict the direction of the next welding seam, greatly improving the seam tracking accuracy and effect

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