Welding Deviation Measurement Method, Device and Automatic Welding System Based on Synchronous Drawing
A measurement method and deviation technology, applied in welding equipment, welding accessories, arc welding equipment, etc., can solve problems such as low tracking accuracy and unclear image of molten pool, and achieve the effect of reducing costs
Active Publication Date: 2022-04-05
HUBEI UNIV OF ARTS & SCI
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[0004] The main purpose of the present invention is to propose a welding deviation measurement method, device and automatic welding system based on synchronous image acquisition, aiming to solve the problem of low tracking accuracy and low tracking accuracy when the existing trackless all-position crawling welding robot adopts the active visual sensing method. The problem that the molten pool image is not clear due to the interference of arc light when passive vision sensing is used
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[0075] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 creative efforts fall within the protection scope of the present invention.
[0076] It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.
[0077] In addition, if there are descriptions involving "first", "second" and ...
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The invention discloses a welding deviation measurement method, device and automatic welding system based on synchronous image acquisition. The method includes the following steps: acquiring a droplet image and a weld seam image at the same shooting time point in the welding area; fusing the molten droplet images and weld seam images, to obtain the molten pool image corresponding to the shooting time point; to obtain multiple frames of the molten pool image corresponding to different shooting time points; to determine the reference molten pool image and the molten pool to be measured according to the multiple frames of the molten pool image Image; respectively extract the welding wire tip position information and weld seam position information in the reference molten pool image and the molten pool image to be measured; according to the welding wire tip position information of the reference molten pool image and the molten pool image to be measured and weld position information to calculate the welding deviation value. Both the device and the automatic welding system are applied to the method of the present invention. The invention realizes on-line monitoring of the positions of molten droplets and welding seams, reduces the cost of automatic welding equipment, and simultaneously improves the accuracy of welding seam tracking.
Description
technical field [0001] The invention relates to the technical field of automatic welding, in particular to a method, device and automatic welding system for measuring welding deviation based on synchronous drawing. Background technique [0002] In recent years, with the advancement of science and technology, automatic welding has developed rapidly. The core problem of automatic welding is how to realize the precise tracking and guidance of the welding seam, and then control the trajectory of the welding torch in real time to meet the requirements of welding quality. At present, there are many applications of machine vision methods, mainly including laser front guidance and molten pool The two methods of real-time monitoring can carry out precise tracking and guidance of the weld seam. [0003] For pipelines and pressure vessels on petrochemical construction sites, the use of trackless all-position crawling welding robots can get rid of the shackles of the track, and can per...
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IPC IPC(8): B23K9/127B23K9/32
CPCB23K9/1276B23K9/32
Inventor 王中任王小刚刘海生柯希林汤宇赵荣丽
Owner HUBEI UNIV OF ARTS & SCI