Large-break-angle welding seam tracking and obstacle prediction system based on binocular four-line vision sensing

A technology of visual sensing and prediction system, applied in welding equipment, welding accessories, arc welding equipment, etc., can solve the problem of collision between welding torch and obstacles

Active Publication Date: 2021-09-14
XIANGTAN UNIV
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Problems solved by technology

[0006] The present invention provides a binocular four-line visual sensing big corner weld tracking and obstacle prediction system, which aims to solve one of the technical problems existing in the prior art and realize real-ti

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  • Large-break-angle welding seam tracking and obstacle prediction system based on binocular four-line vision sensing
  • Large-break-angle welding seam tracking and obstacle prediction system based on binocular four-line vision sensing
  • Large-break-angle welding seam tracking and obstacle prediction system based on binocular four-line vision sensing

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Embodiment Construction

[0020] In order to better express the technical solutions and beneficial effects of the entire invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and implementation cases. Embodiments of the present invention are not limited thereto.

[0021] First introduce the principle of triangulation ranging:

[0022] The laser triangulation method mainly uses a beam of laser light emitted by a laser to irradiate the measured target at a certain incident angle. The laser light is reflected and scattered on the target surface, and at another angle, it passes through the light reduction and filter system, and uses the lens to reflect the reflected laser light. Convergence imaging, spot imaging on the intelligent vision system of CCD. When the measured object moves along the laser direction, the light spot on the position sensor will move, and its displacement corresponds to the moving distance of the measured object. Thr...

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Abstract

The invention relates to a large-break-angle welding seam tracking and obstacle prediction system based on binocular four-line vision sensing, and is applied in the field of welding automation and welding seam tracking. The system is technically characterized by comprising a crossed four-line type laser visual system, a single-line type laser displacement sensing system, an intelligent visual processing computer system, two industrial wide-angle lenses, two dimming and filtering systems, a support, a box body and a cover plate. According to the system, a welding-seam-like track of a full-pose large-break-angle workpiece is obtained through the crossed four-line type laser vision system; through synchronous scanning laser rays of the intelligent visual processing computer system on the crossed four-line type laser visual system, shooting by the industrial lenses and processing of light rays by the dimming and filtering systems, the assembly clearance of the large-break-angle workpiece is obtained; meanwhile, transverse distance data are obtained through the single-line type laser displacement sensing system; and welding seam tracking and obstacle prediction of the large-break-angle workpiece are realized through data processing fusion of the welding-seam-like track of the full-pose large-break-angle workpiece by the intelligent visual processing computer system, the assembly clearance of the large-break-angle workpiece and the transverse distance data.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a binocular four-line vision sensing system for tracking large corner welds and predicting obstacles. Background technique [0002] Welding technology is a very important research field in the field of mechanical manufacturing technology. With the advent of the intelligent era, welding technology is gradually developing towards intelligence and automation. At present, in the field of automatic welding control technology, welding automation has become the mainstream development trend of welding technology. At the same time, automation and intelligence of welding have always been a difficult point. There are many factors that will affect the quality of automatic welding after welding, including not only welding Intrinsic factors of welding such as seam thickness, surface treatment, and welding materials, as well as important information such as welding method, welding speed, and w...

Claims

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Application Information

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IPC IPC(8): B23K9/127B23K9/32
CPCB23K9/1274B23K9/32
Inventor 李毅张迎松杨磊李怡豪付鼎尧闫绮彤
Owner XIANGTAN UNIV
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