Automatic welding seam tracking method and device based on crawler
An automatic tracking device and automatic tracking technology, applied in auxiliary devices, instruments, welding equipment, etc., can solve the problems of easy deviation, easy stagnation, inconvenient use of scanners, etc., and achieve the effect of easy use and easy deviation
Active Publication Date: 2018-11-30
中国船级社实业有限公司
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Problems solved by technology
[0005] In order to solve the problems of inconvenient use, easy deviation, and easy stagnation of existing scanners, the present invention proposes a crawler-based welding seam automatic tracking method and device
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[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.
[0024] figure 1 It is a flowchart of a crawler-based welding seam automatic tracking method according to an embodiment of the present invention. to combine figure 1 As shown, this embodiment proposes a crawler-based welding seam automatic tracking method, including:
[0025] S100, perform camera calibration, and obtain a calibration parameter matrix of the camera of the crawler;
[0026] S200, acquire the first image taken by the camera at the first moment, calibrate the fi...
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The invention provides a welding-line automatic tracking method and device based on a crawl device. The method includes the steps: calibrating a camera, and obtaining a calibration parameter matrix of the camera of the crawl device, obtaining a first image of the camera at a first moment and a second image of the camera at a second moment, conducting calibration on the first image and the second image according to the calibration parameter matrix and Hough transform, obtaining a standard line of a laser indicatrix of the first image and calculating a position coordinate P1 of a point which has the maximum distance between the laser indicatrix and the standard line in the first image, obtaining a standard line of a laser indicatrix of the second image and calculating a position coordinate P2 of a point which has the maximum distance between the laser indicatrix and the standard line in the second image; according to the position coordinates of P1 and P2 and the time difference between the first moment and the second moment, calculating the deviation direction and distance of crawl-device advance; according to the deviation direction and distance, adjusting a creep direction and distance of the crawl device in the next moment, and achieving automatic tracking for the measured welding line.
Description
technical field [0001] The invention relates to the field of instrument detection, in particular to a crawler-based welding seam automatic tracking method and device. Background technique [0002] With the development of large-scale ships, the quality of the large-close welds has more and more obvious influence on the safety of the hull. The existing inspection scheme for welds is to use a scanner to detect welds. The scanner includes a crawler and a weld inspection device in structure. The automatic welding seam tracking function of scanners at home and abroad needs to be improved The front edge is closed to build a scaffold to facilitate the installation of guide devices along the weld, which requires a lot of manpower and material resources and delays time. Moreover, the guide device on the existing scanner generally adopts a rubber magnetic strip with relatively weak suction force. When a slightly obvious obstacle is encountered, a single driving wheel is blocked, and ...
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IPC IPC(8): G06T7/00B23K31/12B23K37/00G06T7/80
CPCB23K31/125B23K37/00G06T7/0004G06T2207/10004
Inventor 简超高翌飞张泽义胡跃刚乔江伟曹海静徐智
Owner 中国船级社实业有限公司