A laser vision guided welding robot fillet weld feature extraction method

A welding robot and vision-guided technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of inability to automatically determine the initial welding pose of the robot, difficult welding automation, etc., and achieve good practicability and characteristics. Extract full effect

CN104400265BInactive Publication Date: 2017-06-06吴长兴
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2017-06-06
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a feature extraction method applicable to a corner weld of a laser vision guided welding robot. The method can obtain the corner angle and the weld point coordinates of the corner weld. The method comprises the following steps: in the part of determination of the corner angle, collecting the corner images with feature light strips of the welding robot in two poses, and then fitting the equations of two corner surfaces to determine the corner angle; and in the part of extraction of weld points, first cutting out ROI zones, then conducting median filtering, binaryzation and thinning, and then extracting light strip straight lines by virtue of Hough transformation and recognizing the weld points. The determination of the corner angle is beneficial to effectively coordinating the welding robot to determine the poses at the beginning of welding; an effective reorganization method of the weld points ensures real-time and accurate extraction of the welding points; and the feature extraction of the corner weld is complete, is of great significance to the practical welding link process, and has favorable practicability.
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Description

technical field

[0001] The invention relates to a welding robot guided by a laser vision sensor and a method for extracting the characteristics of a diagonal seam, in particular to the determination of the welding angle in the welding process of the diagonal seam by a welding robot guided by a line laser structured light vision sensor and the Identification method of weld points.

[0002] technical background

[0003] In recent years, with the rapid development of the national economy, the country's demand for metal materials has continued to expand and the quality requirements have continued to improve. Welding is an important process link for the use of metal materials, and the quality of welding is directly related to the use of metal materials. The existing welding methods are labor-intensive, poor in working environment, complicated in process, and cause great damage to the human body, and the welding quality is mainly guaranteed by the welder's personal skills, experien...

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Embodiment Construction

[0016] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following is a specific implementation process, and the present invention will be further described in detail with reference to the accompanying drawings.

[0017] The basic idea of ​​the present invention is: according to the practical application background of the laser vision-guided welding robot, combined with the actual welding characteristics of the fillet weld, the characteristics of the fillet weld are extracted. The fillet weld feature mainly includes two information quantities, the fillet angle and the weld point. In the corner angle determination part, the corner images with characteristic light bars in two poses are collected, the equations of the two planes are solved, and the angle between the two planes is determined. The schematic diagram is shown in the figure below. image 3 In the extraction part of the weld point, on the basis of intercepting the...