A Real-time Pose Estimation Method for Seam Tracking System

Abstract

The invention discloses a real-time posture estimation method of a weld seam tracking system, which includes the following steps: S1. The industrial camera in the laser vision sensor first collects the weld seam image and sends it to an embedded industrial computer, and converts the two-pixel coordinate value into a welding seam image. The three-dimensional coordinate values ​​under the robot base coordinate system; S2, the industrial camera sends the continuously collected images to the embedded industrial computer, collects the pixel coordinate values ​​of the welding seam feature points and the intersection points on both sides of the welding seam in the image, and utilizes the point cloud The data is calculated to obtain the position and attitude of the welding robot; S3, the position and attitude are compared with the current position and attitude of the welding robot, and sent to the robot control cabinet, and the control cabinet outputs control signals to the welding robot. The invention can make the welding robot better adapt to various welding working conditions, and can still realize accurate welding seam attitude estimation under the interference of strong arc light, splash and other strong noise, thereby improving the welding seam quality.

Description

technical field [0001] The invention belongs to the field of seam tracking of welding robots, in particular to a real-time attitude estimation method of a seam tracking system. Background technique [0002] The current welding robots are basically taught before welding, so that the robot walks a fixed trajectory every time. This method has the advantage of high repeatability and no need to correct the trajectory. However, this method has a The fatal flaw is that it is not adaptable enough, not flexible enough, and the machining accuracy of the workpiece to be welded is relatively poor. [0003] The real-time seam tracking system and the conversion of the coordinates obtained from image processing into the corresponding motion of the robot are urgent problems to be solved in the welding process of welding robots. Many scholars at home and abroad focus on the target tracking algorithm, corresponding image processing, calibration algorithm and robot The real-time communication...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, to provide a real-time posture estimation method of the seam tracking system, and to solve the problem that the existing welding robot cannot adapt to various welding conditions and the welding quality and precision are not high. question

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