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Welding gun pose planning method and system based on three-dimensional vision

A three-dimensional vision and welding torch technology, applied in the field of three-dimensional vision, can solve the problems of difficult process control, difficult robot programming, complex curves, etc., and achieve the effect of improving welding automation and welding efficiency, high positioning accuracy, and strong universality.

Active Publication Date: 2022-01-28
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Complex space curve welds have the characteristics of wide application, high complexity and strong demand; however, due to complex curves, limited work space, difficult process control, and difficulty in robot programming, welding of complex space curve welds is often used Manual welding; while using manual welding in the process of changing welding positions such as upslope welding, downslope welding, flat welding, horizontal welding, and overhead welding, welding defects due to interruption and repair welding cannot be avoided

Method used

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  • Welding gun pose planning method and system based on three-dimensional vision
  • Welding gun pose planning method and system based on three-dimensional vision
  • Welding gun pose planning method and system based on three-dimensional vision

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Embodiment 1

[0045] Such as figure 1 As shown, this embodiment provides a three-dimensional vision-based welding torch pose planning method to perform welding of space curve welds, including:

[0046] S1: According to the characteristics of the structured light of the camera, the workpiece is photographed, the point cloud of the workpiece weld is obtained, and the position of the weld is determined;

[0047] This embodiment takes the impeller blade weld seam as an example, according to figure 2 In the shooting method shown, the shooting pose of the 3D camera is adjusted, and the point farthest from the 3D camera in the point cloud formed by the 3D camera is positioned at the position of the weld of the impeller blade; according to the distance information, the scattered point cloud of the weld is extracted ;According to the polynomial fitting method based on least squares, fit the scattered point cloud of the weld to determine the position of the weld, such as image 3 shown.

[0048] ...

Embodiment 2

[0079] This embodiment provides a welding torch pose planning system based on 3D vision, including:

[0080] The welding seam position determining module is configured to determine the welding seam position according to the three-dimensional visual point cloud data of the workpiece welding seam;

[0081] The welding seam edge determination module is configured to extract point clouds within a set range on both sides of the weld seam, and thereby determine the weld seam edge point cloud;

[0082] The fitting module is configured to fit the edge point cloud of the weld to obtain the edge line of the weld area;

[0083] The welding torch pose determining module is configured to determine the centerline of the welding seam according to the edge line of the welding seam area, and determine the welding torch pose according to the coincidence of the centerline of the welding seam and the axis of the welding torch.

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Abstract

The invention discloses a welding gun pose planning method and system based on three-dimensional vision. The welding gun pose planning method comprises the steps that the position of a welding seam is determined according to three-dimensional vision point cloud data of the welding seam of a workpiece; point clouds in set ranges on the two sides of the weld joint are extracted, and weld joint edge point clouds are determined accordingly; the welding seam edge point cloud is fit to obtain an edge line of the welding seam area; a welding seam center line is determined according to the edge line of the welding seam area, and a welding gun pose is determined according to the coincidence of the welding seam center line and the welding gun axis. The welding seam position is determined by obtaining scattered point cloud of a workpiece welding seam, after the welding seam position is determined, left and right edge point cloud in a fixed range is extracted, a welding seam center line is solved based on the point cloud, and finally the welding gun posture is obtained, the welding gun posture is adjusted in real time while the welding gun posture is planned, the complexity of a space curve welding seam welding task is solved, and the welding automation and the welding efficiency are improved.

Description

technical field [0001] The present invention relates to the technical field of three-dimensional vision, in particular to a method and system for planning the pose and posture of a welding torch based on three-dimensional vision. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Spatial curve welds are different from ordinary plane curve welds and straight line welds. They have the characteristics of constant changes in curvature and torsion, different inclination angles of weld seams, and different corners of weld seams. Therefore, for the welding of space curve welds, welding guns are required. The posture needs to adapt to the continuous change of the welding seam position, and the complexity of the welding task in this process is much higher than that of ordinary plane curve welding seam and straight line welding seam welding. [0004] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K37/02B23K37/00G06T7/13G06T7/68G06T7/70
CPCB23K37/0252B23K37/00G06T7/13G06T7/68G06T7/70
Inventor 田新诚耿煜森张园凯宋锐马昕周乐来李贻斌
Owner SHANDONG UNIV