A real-time seam tracking detection method based on machine vision

Abstract

The invention discloses a real-time welding line tracking and detecting system based on machine vision. The system comprises an industrial personal computer as system core control equipment, an image acquiring unit consisting of a light source controller, an LED light source, an image acquiring card and a CCD shooting mechanism, and a movement control unit consisting of a robot controller and a welding robot. The invention further comprises a real-time welding line tracking and detecting method based on machine vision; and the method comprises such steps as image acquisition-image processing-data processing-movement control. The real-time online detecting method is adopted without needing redundant manual operations, and compares an anticipated welding line trajectory generated by groove images with an actual welding line trajectory for rectifying; and when the scene welding environment is certainly different from the manual teaching environment and the offline programming simulation environment, the real-time welding line tracking can be performed, so that various disturbances in the welding scene are overcome, and the accuracy and the reliability of the welding effect are guaranteed.

Description

technical field [0001] The invention relates to a real-time welding seam tracking detection system and method based on machine vision, which belongs to the technical field of machine vision and mechanical automation. Background technique [0002] Welding has always played an extremely important role in industrial production, and with the development of robots and visual inspection processing technology, the automation level of welding technology is increasing day by day, and the welding seam tracking inspection method has also developed from manual inspection to computer intelligent inspection. [0003] Most of the existing welding robots are of the on-site manual teaching type or offline programming type. In these two methods, the welding parameters and welding paths of the welding robot are planned before production, so that the welding robot can repeat the previous work with high precision in the working space. Plan your exercise. [0004] The traditional seam tracking d...

AI Technical Summary

Problems solved by technology

Such a seam tracking method can ensure the high-precision operation and seam tracking of the welding robot in the planning area, but it can only track the planned path, and has poor adaptability to emergencies

[0005] In the actual welding process, there are many interferences on the welding site, and the shape of the weldment will change with the change of the production environment, such as the high temperature generated by the molten pool, low assembly accuracy, sudden collision during the welding process, etc. It has a corresponding impact on welding production; when the on-site welding environment is different from the manual teaching environment and offline programming simulation environment, the effect of traditional seam tracking is not ideal, which restricts the further development of existing seam tracking technology. develop

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