Underwater wet welding tracking system based on active vision

Abstract

The invention discloses an underwater wet welding tracking system based on active vision. A front end cover of a sealed box body is matched with a pressing cover, a threaded hole is formed in a rear end cover and is matched with a base, and a threaded hole is formed in one side outside the sealed box body; an arc blocking plate is installed and fixed between a welding torque and a sensor, an external sealing connector of a cable is connected with the sealed box body, a supporting structure is designed to be a T-type plate, a transverse plate is fastened to the rear end cover of the sealed box body, a CCD and a steering gear are installed and fixed to the two faces of a vertical plate respectively, and a laser is installed on the steering gear. According to the system, the sensor is sealed well, and the structure is portable. The interior structure is made to be compact due to the design of the T-type plate, and all the components are convenient to disassemble and assemble. The external sealing connector of the cable makes weak sealing links sealed well. The image acquisition effect is remarkably enhanced due to the design of the arc blocking plate. The laser can be regulated automatically due to the fact that the steering gear is installed and can be regulated conveniently and accurately.

Description

technical field [0001] The invention belongs to the technical field of seam tracking, in particular to an active vision-based underwater wet welding tracking system. Background technique [0002] With the development and utilization of offshore oil and the development of diving technology, there are more and more submarine oil and gas pipelines and offshore engineering structures. The application of underwater welding technology is becoming more and more extensive. At present, my country's underwater welding technology basically remains at the level of manual welding. For a long time, divers dive into the bottom of the water for underwater welding. Due to the limitation of human physiological limits, the maximum depth of diving for human beings using common mixed gas is 100m. The disadvantage of the manual welding method is that it is limited by the depth of diving, and the requirements for personnel quality and safety issues are particularly high. [0003] In recent year...

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Problems solved by technology

After searching, it was found that the scholars of the Jiangxi Provincial Key Laboratory of Robotics and Welding Automation introduced the composition of the underwater welding robot's visual sensor system in the article "Welding Production Application" published in the "Vision Sensor Design of Underwater Welding Robot". There is still much room for improvement in the sealing of the housing, the automation of laser adjustment, and the layout of internal devices.

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