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Grid structure workpiece welding seam positioning method and system based on three-dimensional visual information

A grid structure, three-dimensional vision technology, applied in image analysis, instruments, calculations, etc., can solve the problems of high input cost, high tool requirements, difficult control, etc., to achieve high universality, reduce accuracy requirements, and improve welding efficiency. Effect

Active Publication Date: 2021-07-23
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This welding process does not directly position the weld seam, but relies on high-precision tools, which have high requirements for tools, high investment costs, and are difficult to control

Method used

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  • Grid structure workpiece welding seam positioning method and system based on three-dimensional visual information
  • Grid structure workpiece welding seam positioning method and system based on three-dimensional visual information
  • Grid structure workpiece welding seam positioning method and system based on three-dimensional visual information

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0047] It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0048] Th...

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Abstract

The invention provides a grid structure workpiece welding seam positioning method and system based on three-dimensional visual information. The method comprises the following steps: preprocessing obtained point cloud data; processing the preprocessed point cloud data by using a straight line fitting mode to obtain a line segment relative to each reinforcing steel bar, and performing discretization processing; classifying the fitted line segments according to a camera coordinate system, calculating corresponding common perpendicular lines and perpendicular feet, calculating the gap size and the gap center point of the steel bar intersection points, and planning a welding track according to the calculation result; and iteratively calculating and planning a welding track until a welding seam formed by crossing all the steel bars is found and a final welding track is formed.

Description

technical field [0001] The invention belongs to the technical field of grid structure workpiece welding seam positioning, and in particular relates to a grid structure workpiece welding seam positioning method and system based on three-dimensional visual information. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] With the rapid development of social economy and the acceleration of infrastructure construction, the number of grid structure workpieces represented by welded steel mesh is gradually increasing. The welding seam of the grid structure workpiece is located at the cross position of two steel bars. During the manual welding process, the horizontal and vertical layers of steel bars need to be lapped and fixed before welding. Due to the small contact area at the intersection position, human factors have a large influence, resulting in...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/20G06T7/70
CPCG06T17/20G06T7/70Y02P90/30
Inventor 田新诚张园凯耿煜森马昕宋锐周乐来
Owner SHANDONG UNIV