Multifunctional visual sensor device based on composite laser structure light
A vision sensor, laser structure technology, applied in the direction of using optical devices, auxiliary devices, measuring devices, etc., can solve the problems of weak function and single detection function, achieve the effect of simple and compact structure, and avoid unexpected emergencies
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example 1
[0069] Example 1: Detection of welding torch 200 height information:
[0070] Such as figure 2 As shown, the multifunctional visual sensor device 100 based on the composite laser structured light is in the forward direction of the welding movement of the welding torch 200, and the groove features of the workpiece will reflect the crosshair laser projected on the workpiece by the crosshair laser 4a and the inline laser 4b. Influenced by the line laser, the laser line extends in the groove to form a bend. The bending characteristics of the laser line are recorded by the industrial CCD camera 1 after passing through the light reduction system 5 and the filter system 6. By further using the correlation detection algorithm based on the image processing and triangulation principle, relevant information can be extracted, especially the bending characteristics of the laser line. The coordinate information of the bending point.
[0071] Such as image 3 As shown, the central axis o...
example 2
[0125] Example 2: V-shaped welding groove size information detection:
[0126] Such as image 3 As shown, the central axis of the welding torch 200 and the optical axis of the industrial CCD camera 1 are perpendicular to the surface of the workpiece and the depth (h) and width of the V-groove under the condition that they all intersect the center line of the welding groove can be obtained from the above analysis (b1, b2 and B) and the angle (ω 1 , ω 2 and ω) correlation detection algorithm is as follows.
[0127] V-groove depth (h) is:
[0128]
[0129] or
[0130] The V-shaped welding groove width (b1, b2 and B) is:
[0131]
[0132] or
[0133]
[0134] or
[0135]
[0136] or
[0137] V-type welding groove angle (ω 1 , ω 2 and ω) as:
[0138]
[0139] or
[0140]
[0141] or
[0142]
[0143] or
[0144] The above formulas are the depth (h), width (b1, b2 and B) and the angle (ω 1 , ω 2 and ω) detection algorithm. The dis...
example 3
[0145] Example 3: Detection of the lateral position deviation between the welding torch 200 and the welding groove and the angular deviation between the moving direction of the welding torch 200 and the centerline of the welding groove (to realize the function of welding seam guidance and tracking):
[0146] Such as Figure 4 As shown, the central axis of the welding torch 200 and the optical axis of the industrial CCD camera 1 are perpendicular to the surface of the workpiece, but the movement direction of the welding torch 200 and the theoretical welding position (such as the center line of the welding groove) have both lateral and angular deviations, and the object coordinate system is OXYZ, the origin O is the intersection of the optical axis of the industrial CCD camera 1 and the upper surface OXY of the workpiece, the Z axis is the optical axis of the CCD camera, the distance from the camera focus to the object coordinate plane OXY is H, and the central axis of the weldin...
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