3D welding positioning system based on monocular measurement and control method thereof

Abstract

The invention provides a 3D welding positioning system based on monocular measurement and further provides a control method of the 3D welding positioning system based on monocular measurement. The 3Dwelding positioning system comprises a mechanical arm, an IMU sensor, a monocular camera and a control device, wherein the IMU sensor, the monocular camera and the control device are fixed to the mechanical arm. The IMU sensor and the monocular camera are fixed; the monocular camera is used for collecting the distance between a welding needle and a welding spot and the moving distance of the welding needle; and the control device is electrically connected with the mechanical arm to control the motion state of the mechanical arm, and is in signal connection with the IMU sensor and the monocularcamera. According to the 3D welding positioning system based on monocular measurement, 3D positioning of the mechanical arm is achieved through a monocular measurement technology and an IMU multi-frame positioning method, relative position information of the welding needle and the welding spot can be accurately obtained, and the problem of low welding positioning accuracy in the prior art is solved.

Description

technical field [0001] The invention belongs to the technical field of industrial production, and in particular relates to a 3D welding positioning system based on monocular measurement and a control method thereof. Background technique [0002] The shipbuilding industry not only occupies an important position in the civil industry, but also occupies an important position in the military industry. The industrial chain of the shipbuilding industry is very long, and the industrial chain is highly directly related, and each link is very important. With the continuous development of science and technology and the increasingly fierce market competition, increasing the productivity of welding production, ensuring product quality, and realizing the automation and intelligence of welding production are more and more valued by welding production enterprises. [0003] However, at present, the welding of large structural parts in my country's shipbuilding industry is done manually, wh...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a 3D welding positioning system for monocular measurement and its control method, which uses an IMU sensor and a monocular camera to achieve 3D positioning, accurately obtains the relative position information of the welding needle and the welding point, and solves the problem of the prior art. The problem of low welding positioning accuracy

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