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Welding spot tracking method and device and storage medium

A welding spot and welding seam position technology, which is applied in the field of welding spot tracking method, device and storage medium, can solve the problems that the welding seam position cannot change too much, the welding seam detection fails, and the welding seam shape cannot be too complicated.

Active Publication Date: 2021-04-09
深圳辰视智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing laser seam tracking system has the following deficiencies: (1) The pre-taught seam position cannot change too much, otherwise it will lead to seam detection failure
(2) The shape of the weld seam should not be too complicated. The current laser seam tracking system can basically only deal with simple changes such as straight lines (or curves with small arc changes), circles, etc., but for some irregular changes Graphical curves cannot realize weld operation

Method used

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  • Welding spot tracking method and device and storage medium
  • Welding spot tracking method and device and storage medium
  • Welding spot tracking method and device and storage medium

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Experimental program
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Embodiment 1

[0064] The invention of this application provides a solder spot tracking method, please refer to figure 1 and figure 2 , the method includes the steps of:

[0065] S10, use the 3D target recognition system to initially locate the target, and calculate the initial welding path;

[0066] Specifically, steps are included:

[0067] S102. Use the 3D target recognition system to locate the position and posture of the target;

[0068] The position and posture of the locating target using the 3D target recognition system specifically includes: obtaining the coordinate X of the target position in the world coordinate system w ;Model coordinate X of target position m ; and the target pose rotation matrix [R w2m , T w2m ]; the specific acquisition method of the above-mentioned coordinates has been disclosed in the company's previous patent CN201810707859.4, and will not be repeated here.

[0069] Among them, X w = R w2m x m +T w2m ;

[0070] where X w is the world coordinat...

Embodiment 2

[0110] The embodiment of the present application also provides a welding spot tracking device, please refer to Figure 8 to Figure 10 , the welding point tracking device includes a 3D target recognition system 10 , a path scanning weld seam system 20 , a guiding welding system 30 and a laser guiding system 40 .

[0111] The 3D target recognition system 10; used for initially locating the target and calculating the initial welding path;

[0112] The path scanning welding seam system 20 is used to guide the line-scanning laser to scan the welding seam along the initial welding path, and calculate and update to obtain the actual welding seam position.

[0113] The 3D target recognition system 10 includes a target position locating unit 101 , a welding path generation unit 102 and a weld seam type matching system 103 .

[0114] The target position locating unit 101 is used for locating the position and posture of the target;

[0115] Concretely include: positioning to obtain the...

Embodiment 3

[0143] According to an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned wireless terminal automatic commissioning method are implemented, and the specific steps are as shown in the embodiment described in 1, and will not be repeated here.

[0144] The memory in this embodiment can be used to store software programs and various data. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function, etc.; the data storage area may store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other ...

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Abstract

The invention discloses a welding spot tracking method and device and a storage medium, and belongs to the technical field of welding spot tracking in industrial machine vision. The welding spot tracking method comprises the steps that a 3D target recognition system is used for initially positioning a target, and an initial welding path is calculated; linear scanning laser is guided to scan a weld joint along an initial welding path, and an actual weld joint position is obtained through calculating and updating; then a teaching robot guides the laser welding system to move along the actual weld joint position; and a movable welding gun is controlled to conduct welding according to the actual weld joint position detected by the laser guiding system. By using the welding spot tracking method, the welding position and posture of the current target can be dynamically obtained, the robot is accurately guided to scan the weld joint to obtain 3D information of the weld joint, accurate welding of the weld joint is achieved, and complex irregular changing graphic curve weld joint operation can be processed.

Description

technical field [0001] The invention relates to the technical field of spot tracking in industrial machine vision, in particular to a spot tracking method, device and storage medium. Background technique [0002] Laser-guided seam tracking technology has been widely used in current industrial welding. The system mainly uses a three-dimensional line-scan imaging system composed of cameras and lasers. Change within the scanning range) to obtain the three-dimensional shape of the weld, and accurately locate the current actual weld position through the preset weld recognition mode. [0003] The traditional laser seam tracking system is generally divided into two steps when performing welding seam work: the first step is to teach the robot to guide the laser system to move along the weld seam, and the second step is to move according to the weld seam position detected by the laser guidance system Welding torch for welding. [0004] The existing laser seam tracking system has th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K26/044B23K26/082B23K26/24B25J9/00
CPCB23K26/044B23K26/082B23K26/24B25J9/0081
Inventor 邓亮李楚翘陈先开冯良炳
Owner 深圳辰视智能科技有限公司