Intelligent three-dimensional autonomous weld joint tracing method

Abstract

The invention belongs to the technical field of automatic welding, and provides an intelligent three-dimensional weld joint autonomous tracking method which comprises the following steps: S1, camera calibration: a camera shoots and acquires image information of calibration plates at different spatial positions, establishes a corresponding equation set according to the shot image information, and obtains an internal parameter matrix and an external parameter matrix through analysis; s2, line laser plane calibration; s3, hand-eye calibration; s4, determination of a welding seam starting point and a welding seam ending point; and s5, welding seam track planning. According to the intelligent three-dimensional autonomous welding seam tracing method, any type of weld grooves is identified by utilizing an image algorithm; a linear laser triangulation method and a vision and robot calibration algorithm are adopted to autonomously plan a motion path, so that autonomous tracking of a welding line in any three-dimensional space is realized, three-dimensional orientation information of a welding line groove is obtained, and tracking of a right-angle or acute-angle inflection point is realized in a self-adaptive pre-swing manner.

Description

technical field [0001] The invention belongs to the technical field of automatic welding, and in particular relates to an intelligent three-dimensional welding seam autonomous tracking method. Background technique [0002] In the actual application of traditional automatic welding equipment, most welding robots need to be taught manually first, and the size and fixture of the workpiece must also be unified. When the shape of the weldment is relatively complex, manual teaching takes more time, making automatic welding Reduced efficiency and poor weld quality. Therefore, the process of manual teaching can be replaced by laser vision autonomous tracking, which not only improves the efficiency of automatic welding but also improves the welding quality. [0003] At present, most laser vision tracking systems on the market are only suitable for welds with partial groove shapes, and only extract three-dimensional coordinates from straight lines or curves with small radians on the ...

AI Technical Summary

Problems solved by technology

[0003] At present, most laser vision tracking systems on the market are only suitable for welds with partial groove shapes, and only extract three-dimensional coordinates from straight lines or curves with small radians on the plane to adjust the translation of the welding torch to achieve weld seam tracking. For any welding seam in three-dimensional space, if there is no posture information corresponding to the welding torch, the quality of the welding produced by this system will not meet the standard at all. For the welding seam at the right-angle inflection point, because the laser is in the shape of a font, using this system will cause tracking errors. run off track

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