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Welding spot positioning method, system, device and equipment based on binocular vision and medium

A positioning method and binocular vision technology, applied in image data processing, instruments, calculations, etc., can solve problems such as error-prone, loss, and time-consuming, and achieve the effect of strong positioning ability and improved production efficiency

Active Publication Date: 2021-08-27
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Manual guidance to determine the accuracy of the solder joint position depends on the operator's visual experience, and is a very time-consuming task, especially when there are many solder joints on the parts to be welded and a wide variety of welding products. It is hard work, and it is easy to make mistakes. Once the wrong position of the solder joint occurs, it will lead to the scrapping of the welded parts and direct economic losses.

Method used

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  • Welding spot positioning method, system, device and equipment based on binocular vision and medium
  • Welding spot positioning method, system, device and equipment based on binocular vision and medium
  • Welding spot positioning method, system, device and equipment based on binocular vision and medium

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Embodiment 1

[0096] The principle of the present invention is to obtain multiple matrices through camera calibration and system correction; according to the image of the parts to be welded and multiple matrices captured by the binocular camera, the projection matrix from the binocular camera coordinate system to the world coordinate system is obtained; according to the The image of the parts to be welded by the binocular camera is used to locate the center coordinates of the solder joint under the binocular camera; the coordinates of the center of the solder joint under the binocular camera are matched one by one to obtain the matching center coordinates of the solder joint; according to the binocular camera The projection matrix from the camera coordinate system to the world coordinate system is used to calculate the coordinates of the matching circle center coordinates of the welding spot in the world coordinate system.

[0097] Such as figure 1 As shown, the present embodiment provides ...

Embodiment 2

[0176] Such as Figure 8 As shown, the present embodiment provides a binocular vision-based welding spot positioning device, the device includes a correction module 801, a conversion module 802, a positioning module 803 and a calculation module 804, and the specific functions of each module are as follows:

[0177] Calibration module 801, used for calibrating and system calibrating the binocular camera by using calibration method to obtain multi-matrix;

[0178] The conversion module 802 is used to obtain the projection matrix from the binocular camera coordinate system to the world coordinate system according to the image of the parts to be welded captured by the binocular camera and the multi-matrix;

[0179] The positioning module 803 is used to obtain the matching circle center coordinates of the welding spots according to the images of the parts to be welded captured by the binocular camera;

[0180] The calculation module 804 is configured to calculate the coordinates o...

Embodiment 3

[0183] This embodiment provides a computer device, which can be a computer, such as Figure 9 As shown, a processor 902, a memory, an input device 903, a display 904 and a network interface 905 are connected through a system bus 901, the processor is used to provide computing and control capabilities, and the memory includes a non-volatile storage medium 906 and an internal memory 907, the non-volatile storage medium 906 stores an operating system, a computer program, and a database, the internal memory 907 provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium, and the processor 902 executes the During the computer program, realize the welding spot location method of above-mentioned embodiment 1, as follows:

[0184] Use the calibration method to calibrate the binocular camera and correct the system to obtain a multi-matrix;

[0185] According to the image of the parts to be welded and the multi-matrix ca...

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Abstract

The invention discloses a welding spot positioning method, system, device and equipment based on binocular vision and a medium, and the method comprises the steps: carrying out the calibration and system correction of a binocular camera through a calibration method, and obtaining a plurality of matrixes; obtaining a projection matrix from a binocular camera coordinate system to a world coordinate system according to an image, shot by a binocular camera, of a to-be-welded part and the multiple matrixes; according to the image, shot by the binocular camera, of the to-be-welded part, obtaining matched circle center coordinates of a welding spot; and according to the projection matrix from the coordinate system of the binocular camera to the world coordinate system, calculating the coordinate of the matched circle center coordinate of the welding spot in the world coordinate system. According to the invention, calibration and system correction are carried out on the binocular camera by using a calibration method to obtain multiple matrixes; and according to the images, shot by the multiple matrixes and the binocular camera, of the to-be-welded part, automatic positioning work of the welding spot position coordinates is achieved, and the welding spot coordinate positioning efficiency and accuracy are improved.

Description

technical field [0001] The invention belongs to the technical field of solder joint positioning, and in particular relates to a binocular vision-based solder joint positioning method, system, device, equipment and medium. Background technique [0002] In the welding production process, the position of the welding torch has a great influence on the welding quality. Usually the welding process is the last process of connecting parts into parts or products. Therefore, before welding, each part needs to be assembled together and put into the membrane of the positioning part for welding. Ultrasonic welding is generally applied to soluble materials such as plastics, and each part has a certain degree of elasticity after molding. Although each welding point has a size in the scattered part drawing, once assembled, the assembly size will be inconsistent with the design size due to various reasons such as part deformation, loose fit during assembly, and parts not being fixed. , if ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06T7/80G06T7/13
CPCG06T7/70G06T7/85G06T7/13G06T2207/30152
Inventor 胡志辉黄茜王林尧陈宏燔
Owner SOUTH CHINA UNIV OF TECH