System and method based on double-line-laser structure light and used for welding joint identification and tracking

Abstract

The invention discloses a system and a method based on double-line-laser structure light and used for welding joint identification and tracking. The system comprises a laser emitter, an industrial camera, an industrial lens, a light filter, a welding gun, a motor and a computer, wherein the laser emitter comprises double laser generators installed at the two sides of the industrial camera and generating two structure light planes by projecting laser onto the surface of a workpiece, so that two laser stripes are formed on the surface of the workpiece; an image acquisition system is composed ofthe industrial camera, the industrial lens and the light filter, and used for acquiring a welding joint image containing the laser stripes; image processing is carried out on the acquired welding joint image through a computer to obtain the position of a welding joint in the image; calibration is carried out on the camera and the laser planes to obtain the internal and external parameters of the camera and the space equations of the line laser planes, and the three-dimensional space attitude of the welding joint is calculated; and the motor controls the welding gun and receives data, and thenwelding is carried out at a corresponding position. The system and method realize correction for a welding process, control the focal depth of the welding gun, and realize control over a defocusing amount.

Description

technical field [0001] The invention belongs to the visual sensing measurement in the field of machine vision, and in particular relates to a system and method for identifying and tracking weld seams based on two-line laser structured light. Background technique [0002] As an important technology in the manufacturing industry, welding has a wide range of applications, involving ships, vehicles, aviation, electronics and other fields. With the development of industrial modernization and industrial automation, and the "Made in China 2025" proposed by the country in recent years, the existing large number of welding equipment based on teaching reproduction and offline programming can no longer meet the needs of industrial development. Therefore, it is necessary to develop more automated and Intelligent welding robot. [0003] In order to improve the automation level of welding, sensing technology can be used to obtain useful information in the welding process. Non-contact vi...

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Problems solved by technology

[0006] The present invention provides a welding seam identification and tracking system and method based on two-line laser structured light, through which two line laser planes are used to identify and locate the welding seam, and then guide the welding torch for welding, which solves the problem caused by the vibration of the workpiece during welding. welding deviation

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