Industrial robot system based on visual module with fusion of laser and visible light

Abstract

The invention relates to an industrial robot system based on a visual module with fusion of laser and visible light. The industrial robot system based on the visual module with fusion of laser and visible light comprises the following steps of: performing multi-point scanning on a workpiece through a laser sensor, and identifying the appearance and the orientation of the workpiece; collecting welding seam image information, extracting image features, establishing a welding seam tracking visual model according to an image feature recognition algorithm, determining a track of a curve welding seam, and correspondingly mapping pixel points of the track; enabling a robot to walk along the track, collecting a real-time track of the welding seam, comparing the real-time track of the welding seam with a preset track, and obtaining a deviation ratio; judging whether the deviation ratio is greater than a preset deviation ratio threshold value or not; and if yes, generating deviation compensation information, adjusting a welding path and welding parameters according to the deviation compensation information, and through the laser-visible light fusion visual scanning technology and by means of the digital image processing technology, conducting welding seam feature angular point recognition and welding seam information three-dimensional reconstruction of a workpiece to be welded, so that robot autonomous locating and welding seam feature intelligent recognition at a welding starting point are achieved.

Description

technical field [0001] The invention relates to an industrial robot system, in particular to an industrial robot system based on a vision module fused with laser light and visible light. Background technique [0002] my country has become the world's largest producer and exporter of welding equipment. At present, the economic types of enterprises in my country's electric welding machine industry are mainly private enterprises, joint-stock enterprises, Sino-foreign joint ventures and wholly foreign-owned enterprises. The total number of enterprises is about 700 or so. From the perspective of application industry distribution, China's welding robots accounted for 37.15% of the automotive industry in 2019, of which more than 60% of the robots were concentrated in the automotive vehicle welding workshop; followed by the 3C electronics industry, accounting for nearly 12%; others Industry applications account for more than 50%. The homogeneous development of the electric weldin...

AI Technical Summary

Problems solved by technology

The homogeneous development of the electric welding machine industry, the excessive concentration of various enterprises in terms of product composition and market orientation has led to vicious price competition, which has damaged the overall interests of the electric welding machine industry. There are many electric welding machine manufacturers but generally small in scale, and the product chain is not complete. , lack of strong competitiveness with foreign advantageous enterprises

Most electric welding machine companies lack core technology. A large number of companies pursue expansion one-sidedly and use rough production methods to increase production in order to gain a large market share. The development of materials, new technology, and new equipment is both a push and a force for the development of welding technology, helping companies improve the flexibility and intelligence of industrial robots on the production line, enabling companies to easily optimize production efficiency, improve production quality, and achieve industrial production The digitalization, networking and intelligence of the robot will be one of the future directions for the robot intelligent welding solution for high-quality and lightweight materials; this application develops the vision module of the laser-visible light fusion technology, and realizes this technology in the welding robot The application in the field provides an industrial robot for welding light alloy materials. Through the application of industrial welding robots, it helps related enterprises in the automobile, aviation, and rail transit industries to improve the welding accuracy, welding speed and quality level of metal alloy materials, and realize welding The intelligent manufacturing and flexible production of the process, the domestic automatic welding system is generally at the level of relay switch group control, the transmission of information of each automatic welding part is very limited, it is difficult to realize the coordinated control of complex welding processes

Images