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Welding robot intelligent positioning and control method based on binocular vision and line laser sensing data fusion

A welding robot and sensing data technology, applied in welding equipment, auxiliary welding equipment, program control manipulator, etc., can solve the problem that the welding trajectory cannot meet the precision requirements of industrial welding processes, the robustness of the recognition results is low, and the recognition accuracy is not high. problem, to achieve the effect of improving recognition accuracy and precision, wide practicability, and simple process

Pending Publication Date: 2022-01-21
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For welds with inconspicuous features in steel members, the recognition accuracy of such methods is not high, and such image processing methods using feature matching are easily affected by external factors such as target shape, illumination intensity, and environmental background interference. , resulting in low robustness of the recognition results, and the final generated welding trajectory cannot meet the accuracy requirements in the industrial welding process

Method used

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  • Welding robot intelligent positioning and control method based on binocular vision and line laser sensing data fusion
  • Welding robot intelligent positioning and control method based on binocular vision and line laser sensing data fusion
  • Welding robot intelligent positioning and control method based on binocular vision and line laser sensing data fusion

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Embodiment 1

[0054] see Figure 1 to Figure 7 , a welding robot intelligent positioning and control method based on binocular vision and line laser sensor data fusion, including the following steps:

[0055] 1) Build an intelligent positioning and control system for welding robots based on binocular vision and line laser sensor data fusion, including binocular camera 7, host computer 6, teaching pendant 4 and line laser sensor 3. The line laser sensor 3 is located at the end of the robot arm 1 to be controlled.

[0056] Before the binocular camera 7 captures the original image including the workbench 8 and the mechanical arm 1, the binocular camera 7 is calibrated, calibrated and matched to obtain camera parameters.

[0057] The tool for calibrating the binocular camera 7 is halcon software. The calibration plate used in the calibration process is an alumina halcon calibration plate.

[0058] 2) Use the binocular camera 7 to take the original image including the workbench 8 and the mech...

Embodiment 2

[0089] A welding robot intelligent positioning and control method based on binocular vision and line laser sensor data fusion, comprising the following steps:

[0090] 1) Perform binocular positioning, calibration and matching on the binocular camera fixed beside the workbench 8.

[0091] The industrial camera mentioned in step 1 is a 3 million-pixel CCD industrial camera, and the data interface is USB2.0. The industrial camera lens uses a C-mount fixed-focus lens with a focal length of 8mm, which is suitable for close-up shooting of steel components at this distance. The binocular camera is fixed beside the workbench 8 to collect images of steel components, and sends the image information to the host computer 6 through the USB data interface for image processing.

[0092] The double-target calibration method described in step 1 is calibrated by halcon software. The halcon calibration plate uses a 7*7 solid dot alumina calibration plate with an image size of 320*320mm. The pa...

Embodiment 3

[0112] A steel structure welding system and method based on the combination of binocular vision and a line laser sensor 3, the system specifically includes: a 6-degree-of-freedom industrial robot arm 11, a welding torch head 2 installed at the end of the robot arm 1, and a line laser sensor 33, Googo robot control cabinet and teaching device 44, Aotai welding machine 5, binocular camera 7 placed next to the workbench 8, workbench 8 for placing steel components in front of the robot, and windows as the upper computer 6 10 operating system computer6.

[0113] The workflow diagram of the whole welding system is as follows: figure 1 Shown: First, the binocular camera is binocularly calibrated, and the internal and external parameters of the camera and the rotation and translation matrix between the two cameras are obtained. Then, under a suitable lighting environment, use a binocular camera to take pictures of the steel members. Afterwards, the pictures taken by the left and rig...

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Abstract

The invention discloses a welding robot intelligent positioning and control method based on binocular vision and line laser sensing data fusion. The welding robot intelligent positioning and control method comprises the steps that (1) a welding robot intelligent positioning and control system based on binocular vision and line laser sensing data fusion is built; (2) a welding seam is identified and detected to obtain a pixel coordinate of a central point of the welding seam, and the pixel coordinate is converted into a coordinate of a mechanical arm; (3) TCP point calibration is conducted on a line laser sensor (3) and a welding gun head in a demonstrator (4), welding seam scanning is conducted, and accurate position information of the welding seam is obtained; and (4) an upper computer (6) generates a welding program and sends the welding program to the demonstrator (4), and the demonstrator (4) runs the welding program and receives the information of the welding seam, so that the mechanical arm (1) is controlled to perform welding. According to the method, a welding robot can be separated from a teaching-playback working mode to a certain extent, the recognition accuracy and precision of the welding seam in a steel structure are improved, and intelligent recognition and welding of the welding seam in a steel member are realized.

Description

technical field [0001] The invention relates to the field of welding robots, in particular to an intelligent positioning and control method for welding robots based on fusion of binocular vision and line laser sensor data. Background technique [0002] With the continuous promotion of the development model of intelligent manufacturing and construction, industrial robots currently have broad development prospects and application markets. Due to the current welding operations in factories usually have a series of problems such as heavy workload, low manual welding efficiency, harsh environment, and certain safety hazards, the market demand for welding robots is increasing day by day. At present, welding robots have been able to enter the factory to replace workers in the assembly line welding of some standard steel components, which greatly improves the welding production efficiency of steel components. Welding robots usually use the teaching pendant (4) teaching and offline ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/00B25J9/16B25J13/08B25J18/00B23K37/02B23K37/00
CPCB25J11/00B25J9/0081B25J9/1697B25J9/1661B25J13/087B25J18/00B23K37/0252B23K37/00
Inventor 伍洲张洪瑞李帅陈超焦桐李盛
Owner CHONGQING UNIV