Underwater binocular vision weld trajectory scanning device

Abstract

The invention provides an underwater binocular vision weld trajectory scanning device. The scanning device comprises a rectangular bracket, a device box and a control system, wherein a pair of longitudinal slides are arranged at two sides of the rectangular bracket; a horizontal slide is arranged on the longitudinal slides; the horizontal slide moves in the horizontal slides through a longitudinalmovement module; a lateral movement module is arranged on the horizontal slide; the device box is detachably connected with the lateral movement module; a binocular vision system is arranged in the device box and includes two cameras; an ultrasonic range finder is arranged at the midpoint of the center connection of the two cameras; the ultrasonic range finder is located below the center of the binocular vision system; and the longitudinal movement module, the lateral movement module, the binocular vision system and the ultrasonic range finder are connected with the control system through data cables. According to the scanning device, through the binocular vision system and the ultrasonic range finder, the accurate measurement of the three-dimensional coordinates of the weld trajectory isachieved, the coordinate precision is improved, the scanning accuracy of the weld trajectory is ensured before welding, and the scanning device is especially suitable for the underwater welding.

Description

technical field [0001] The invention relates to the field of machine vision control, in particular to an underwater binocular vision welding seam trajectory scanning device. Background technique [0002] In the construction of various marine engineering structures such as offshore oil production platforms and submarine oil and gas pipelines, there are two types of underwater welding: dry method and wet method. Dry welding is a method in which a large gas chamber is used to cover the weldment and the welder performs welding in the gas chamber, but the use is limited and the application is not common. [0003] However, wet welding is greatly affected by the environment. During the welding operation, a large number of steam drums are generated due to the high temperature of the arc, and there are also interference factors such as arc light, smoke and metal spatter, so the welding process cannot be tracked in real time. Trajectories produce errors. SUMMARY OF THE INVENTION ...

AI Technical Summary

Problems solved by technology

Dry welding is a method in which a large air chamber is used to cover the weldment, and the welder performs welding in the air chamber, but its use is limited and its application is not common.

[0003] The wet welding is greatly affected by the environment. During the welding operation, a large number of steam drums are generated due to the high temperature of the arc, accompanied by interference factors such as arc light, smoke and metal splashes, and the real-time tracking of the welding process cannot be well performed. In many cases, the weld seam track error

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