Six-freedom-degree welding robot line laser real-time seam tracking method

Abstract

The invention discloses a six-freedom-degree welding robot line laser real-time seam tracking method. The six-freedom-degree welding robot line laser real-time seam tracking method comprises the stepsthat (1) during welding, images collected by a camera in a line laser visual sensor are preprocessed; (2) a feature point extraction algorithm based on a deep twin network is adopted, and the pixel coordinate values of a seam center feature point in the preprocessed current frame image are obtained through cross-correlation filtering; and (3) the pixel coordinate values are converted into three-dimensional coordinate values in a camera coordinate system to be sent to a control cabinet in real time, and therefore a welding gun is driven to complete the automatic welding process. According to the six-freedom-degree welding robot line laser real-time seam tracking method, a precisely positioned seam center point can be found in the images including a large amount of arc light and splashing,a servo driver controls a robot to operate, the problem that the distance between laser streaks and a welding pool in the current seam tracking system is too large is solved, and automatic tracking ofcurve seams can be carried out; and the advantages of being completely automated, high in welding precision, good in real-time performance, high in capacity of resisting disturbance and the like areachieved.

Description

technical field [0001] The invention relates to a robot line laser real-time weld seam tracking system, in particular to a deep learning-based six-degree-of-freedom welding robot line laser real-time weld seam tracking method. Background technique [0002] Due to the problems of harsh working environment, high labor intensity, and low efficiency in welding operations, current welding robots have been gradually applied in many fields such as automobile production, construction machinery, shipbuilding, and container production. Welding robots usually use "teaching-reproduction" In order to ensure that this working mode can be implemented in a specific welding environment, the positioning of the welding workpiece needs to be completed by manual spot welding in the previous process, which will cause positioning errors; at the same time, the high-temperature thermal deformation of the workpiece during the welding process makes the actual The trajectory deviates from the teaching ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a real-time welding seam tracking system and method for a six-degree-of-freedom welding robot line laser, aiming to solve the difficulties in visual image processing and the distance between laser stripes and welding pools in current automatic welding technology oversized problem

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