A Multi-parameter Synchronous Visual Inspection and Tracking Method for Trapezoid Welds with Variable Gap

Abstract

The invention discloses a variable gap trapezoidal welding line multi-parameter synchronous visual inspection tracking method. The method uses two-dimensional welding line images for obtaining three-dimensional welding line position information and welding line gaps, so that a linear relation exists between the image characteristic change and the welding gun movement; according to single-frame images acquired by an intelligent camera sensor, image characteristic points are extracted; position coordinates and welding the welding line gaps of welding guns in a three-dimensional space are calculated by the characteristic points; in the tracking process, the three-dimensional coordinate information and the welding line gaps, obtained through calculation, are transmitted to a control system through communication wires by a visual system; the control system searches a welding line original point, and then performs real-time welding line tracking; and after the visual system identifies a welding line ending point, and the welding line ending point is sent to the control system, the welding is finished. The method can realize accurate positioning of welding points of the welding guns in the three-dimensional space, and performs swing welding for larger welding line gaps in the real-time welding process; and the swing frequency is determined by the size of the welding line gaps.

Description

technical field [0001] The invention relates to a detection and tracking method for determining the welding seam position and the welding seam gap value, in particular to a multi-parameter synchronous visual detection and tracking method for trapezoidal welding seams with variable gaps. Background technique [0002] As an important processing method in the metal manufacturing industry, welding is widely used in the field of metal joining because of its reliable and low-cost method of joining materials. With the continuous development of welding technology and industrial robot technology, robot welding will gradually replace manual welding, and is widely used in industries such as automobiles, ships, and construction machinery. The use of welding robots can achieve faster welding speed and higher welding quality than manual welding, with high reliability and accuracy, and can effectively slow down the health of workers caused by heat radiation, arc light, smoke and arc light ...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent CN104107973A discloses an identification method, identification device and welding control system for a container corrugated plate weld. The image is processed, and the coordinates of the two laser feature points collected are compared to obtain the position coordinates of the weld seam in the X direction and the Y direction. The direction will also be deviated, and the size of the weld gap cannot be obtained

For stamping irregular trapezoidal weldments, the inflection points of these weldments will have a certain arc, and the collected discrete points need to be continuously processed. If only the discrete points are used to track the welds, the accuracy at the inflection points of the trapezoidal welds is possible. Will not meet welding requirements

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