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Autonomous mobile robot welding seam vision tracking system and tracking method

A technology of autonomous movement and visual tracking, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve problems such as arc light and spatter interference

Active Publication Date: 2021-04-27
HUBEI UNIV OF ARTS & SCI
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  • Summary
  • Abstract
  • Description
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Problems solved by technology

[0007] The purpose of the present invention is to solve the problems existing in the prior art, to provide an autonomous mobile robot welding seam visual tracking system and tracking method, to solve the problem of arc light and spatter interference of the autonomous mobile robot during welding, and to meet the requirements of the autonomous mobile robot in the welding process. Requirements for real-time, reliability and high precision

Method used

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  • Autonomous mobile robot welding seam vision tracking system and tracking method
  • Autonomous mobile robot welding seam vision tracking system and tracking method
  • Autonomous mobile robot welding seam vision tracking system and tracking method

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Embodiment Construction

[0026] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0027] Such as figure 1 As shown, the present invention provides an autonomous mobile robot weld seam vision tracking system, including an autonomous mobile robot, a visual sensor and a visual tracking processing device, the autonomous mobile robot includes a robot main body, a yaw guide rail connected to the robot main body, The welding gun installed at the end of the wobble guide rail, and the welding machine connected with the visual tracking processing device through the 485 bus;...

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Abstract

The invention discloses a welding seam visual tracking system of an autonomous mobile robot, which comprises an autonomous mobile robot, a visual sensor and a visual tracking processing device. The invention also discloses a tracking method. In the welding seam tracking process, a classifier is constructed by training a large number of positive and negative samples and the mapping of the Gaussian kernel function is used to improve the tracking accuracy and reliability; Transform and inverse transform to reduce the amount of computation and improve real-time tracking. The tracking system and method of the present invention meet the requirements for real-time performance, reliability and high precision when the autonomous mobile robot is strongly interfered by arc light and spatter during the welding process.

Description

technical field [0001] The invention belongs to the field of welding technology and relates to the field of autonomous mobile robots, in particular to a welding seam visual tracking system and tracking method for autonomous mobile robots. Background technique [0002] In the welding environment of complex spaces such as large chemical equipment, pipelines or ship cabins, welding work has problems such as high manual welding labor intensity, low welding efficiency, difficult operation and dangerous operation. Autonomous mobile robots have the characteristics of high welding efficiency, uniform welding quality, small size, and convenient movement. They can avoid the above problems, ensure the uniformity of welding standards, and improve welding accuracy, welding quality, and welding efficiency. Therefore, they will be applied in many fields. [0003] The autonomous mobile robot needs to obtain the position and size information of the weld seam in real time during welding, so a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127B23K9/12B23K9/028
CPCB23K9/028B23K9/12B23K9/1274
Inventor 王中任刘德政刘海生肖光润吴艳花
Owner HUBEI UNIV OF ARTS & SCI
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