Dual-wavelength binocular vision seam tracking method and tracking system

Abstract

The invention discloses a dual-wavelength binocular vision seam tracking method. The method comprises the steps including image acquisition, data processing, seam tracking and the like. The invention further discloses a tracking system for implementing the method. The system adopts a near-infrared and structured light dual-wavelength binocular vision sensing system, images of a molten pool and different wavelengths of seam area images with of seams are measured simultaneously and transmitted to a miniature industrial control computer, and the seam positions are measured accurately with a multi-information fusion algorithm and a seam image three-dimensional reconstruction algorithm; the miniature industrial control computer adopts the Kalman filter algorithm to perform optimal estimation on the seam tracking deviation state according to a seam position detection result, a servo driver drives a servo motor to move so as to control a 3-axis motion workbench to generate corresponding motion, a welding torch or a laser head is controlled for deviation correction, and the seams are tracked accurately. The system can eliminate hard light, splashing and electromagnetic interference on a welding site and improve the seam tracking accuracy and reliability.

Description

technical field [0001] The invention belongs to the field of welding technology, and in particular relates to a dual-wavelength binocular vision welding seam tracking method and tracking system. Background technique [0002] Welding is an important processing technology in the manufacturing industry, which has many characteristics such as harsh working conditions, heavy workload and high quality requirements. Arc welding and laser welding are more commonly used welding methods in the welding industry. Using arc and laser beam as the controlled object to realize automatic welding control is an important means of welding automation. Among them, accurate seam tracking is the premise to ensure the welding quality, that is, the laser beam or arc must be controlled throughout the welding process so that it is always aligned with the seam, otherwise it will cause waste. To this end, it is necessary to accurately and automatically detect the position of the weld seam and realize au...

AI Technical Summary

Problems solved by technology

However, this method has its insurmountable defects: for butt welding of flat plates of equal thickness, it can only effectively detect welds with a gap greater than 0.15mm

For example, using a differential transformer as a sensor to detect vertical and horizontal deviations; according to the phenomenon that the weld gap has an impact on the propagation of acoustic emission waves, the acoustic emission-microprocessor-controlled weld detection system is used; The V-shaped weld seam detection at the mouth; the eddy current method is used to detect the weld seam, but the left and right deviation position of the weld seam cannot be accurately judged; the ultrasonic sensing method requires the close contact between the ultrasonic transducer and the plate to be welded, which greatly limits the ability of the ultrasonic sensor to detect Applications for weld seams

The above methods have limitations in detecting small gap welds

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