Weld seam tracking vision sensor based on laser structured light

Abstract

The invention belongs to the technical field of vision sensing and measurement and provides a weld seam tracking vision sensor based on laser structured light. By adoption of the weld seam tracking vision sensor based on laser structured light, the defects of the simplex function, low universality, poor flexibility and the like of an existing weld beam tracking vision sensor based on laser structured light are overcome. The weld seam tracking vision sensor based on laser structured light comprises a laser generator, an image acquisition device and a light reduction and filtration system, wherein the laser generator is used for emitting laser to the surface of a workpiece to generate a laser structured light plane, so that laser stripes are formed; the image acquisition device is used for acquiring a weld seam image; the light reduction and filtration system is slidably arranged relative to the image acquisition device; the light reduction and filtration system is used for reducing and filtering light rays entering the image acquisition device in the welding process when located in a first position; and calibration and guiding of the weld seam initial point are conducted through the sensor when the light reduction and filtration system is located in a second position. The weld seam tracking vision sensor based on laser structured light can be used for guiding weld seam initial points of weld seams of various types, tracking of weld seams and the like, has good universality and is high in automation degree.

Description

technical field [0001] The invention belongs to the technical field of visual sensing and measurement, and specifically provides a welding seam tracking visual sensor based on laser structured light. Background technique [0002] Welding technology is a very important process in industrial production, and has a wide range of applications in shipbuilding, steel, construction, aerospace and other fields. Due to the advantages of repeatability, programmability and high precision, industrial robots are widely used in the field of welding, which greatly improves welding efficiency and welding quality. However, the existing welding robots are generally "teaching and reproducing" robots, that is, the robots perform repeated welding according to the trajectory taught in advance. This type of welding robot has strict requirements on the stability of working conditions, and lacks "flexibility" during welding. Therefore, in order to improve the automation level of welding, sensors ca...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of single function, low versatility and poor flexibility of the above-mentioned sensors, the present invention provides a welding seam tracking vision sensor based on laser structured light, which includes: laser generator device, which is used to emit laser light to the workpiece to be welded to generate a laser structured light plane, so as to form laser stripes on the surface of the workpiece; an image acquisition device, which is used to collect the weld seam image of the workpiece to be welded; and relative to the The light-reducing filter system is slidingly set by the image acquisition device, and when the light-reducing filter system is in the first position, the light-reducing filter system can enter into the The laser light in the image acquisition device is light-reduced and filtered; when the workpiece is in a non-welding state, the light-reducing filter system is positioned at the second position by sliding, and the sensor is calibrated and welded initial point guide

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