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

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...

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