Device and method for detecting multi-layer and multi-pass welding trajectory based on multi-visual information fusion

Abstract

The invention proposes a multi-layer and multi-channel welding trajectory detection device and method based on multi-visual information fusion, belonging to the field of welding automation. The invention uses a directional light source array to construct directional lighting conditions on both sides of the weld bead to be detected, uses a structured light source to obtain three-dimensional information of the weld bead section to be detected, and uses a control processing unit to make multiple light sources light up sequentially at a certain frequency, and makes the The imaging element synchronously collects the images when each light source is individually lit, and after image processing and fusion of various visual information during directional lighting and structured light lighting, the three-dimensional information of the multi-layer and multi-channel welding trajectory can be accurately calculated. The invention can obtain various visual feature information of the weld bead to be detected nearly simultaneously, and is suitable for the occasion of automatic identification of multi-layer and multi-pass welding trajectories with a low amount of weld bead protrusion. Low, can be applied to multi-layer multi-pass welding process intelligent lane and automatic tracking and other occasions.

Description

technical field [0001] The invention belongs to the field of welding automation, and in particular relates to a multi-layer and multi-track welding trajectory detection device and method based on multi-visual information fusion. Background technique [0002] Medium-thick plate members in fields such as energy, chemical industry, and ocean engineering often need to be formed by multi-layer multi-pass welding. During the welding process, the position of the track to be welded is recognized by visual methods, so as to adjust the relative pose relationship between the welding torch and the workpiece in real time, and compensate the actual welding track and execution caused by many factors such as size and shape deviation, tooling positioning error, welding thermal deformation, etc. The offset between the preset motion trajectories of the mechanism is of great significance to ensure the quality of welding products. At present, the structured light method is the most commonly use...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to address the deficiencies of the prior art, and propose a multi-layer and multi-track welding trajectory detection device and method based on multi-visual information fusion. The problem of poor applicability of the occasion, in order to realize the accurate and real-time detection of the three-dimensional trajectory of multi-layer multi-pass welding

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