A method and system for extracting three-dimensional welds

Abstract

The present invention provides a method and system for extracting a three-dimensional weld seam, comprising: a projector projecting a gray coded pattern and a phase-shifted coded pattern to the surface of a target welding workpiece; The gray coded pattern and phase shift coded pattern of the image are decoded to obtain the corresponding decoding result; according to the corresponding decoding result, the internal and external parameter matrix of the camera and the internal and external parameter matrix of the projector, the three-dimensional coordinates of the corresponding point of the target welding workpiece are calculated; according to the target welding workpiece The 3D coordinates of the corresponding points are used to perform 3D reconstruction of the target welding workpiece; the weld path points on the surface of the 3D reconstruction model are extracted, and the weld path points are fitted to obtain the 3D position model of the weld; based on the 3D weld position model, the weld The unit direction vector, unit approach vector and unit normal vector of the seam path point determine the three-dimensional attitude model of the weld. This method can realize the precise extraction of three-dimensional weld seam.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a three-dimensional weld extraction method and system. Background technique [0002] With the continuous advancement of industrial technology, welding technology has become an important metal thermal processing technology, and at the same time, higher and higher requirements are put forward for this technology in the process of application. The welding quality of traditional manual welding is greatly affected by the welding personnel, and it is difficult to guarantee the quality of welding. Welding automation has become the main development direction of welding. [0003] Welding with welding robots is one of the ways to realize welding automation. Before using the welding robot to weld, the weld seam extraction of the welding workpiece must be completed first. The welding seam in the present invention refers to the gap that does not fill solder in the welding workpiece, such a...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a method and system for extracting three-dimensional welds, which are used to solve the defects of low extraction accuracy and high extraction cost in the prior art, and can ensure accurate extraction of three-dimensional welds

Images