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Weld seam tracking extraction method based on line laser structured light vision sensing

A technology of visual sensing and extraction method, applied in the field of welding seam tracking, can solve problems such as difficulty in realizing real-time welding seam tracking, and achieve the effect of improving accuracy and efficiency and improving detection accuracy.

Pending Publication Date: 2022-06-24
XIANGTAN UNIV
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Problems solved by technology

Therefore, in order to solve the deficiencies in the existing technology and better promote the automation process of welding equipment, the present invention proposes a line-based welding seam tracking system for the current teaching robot that is difficult to achieve real-time tracking of welding seams. Weld Tracking Extraction Method Based on Laser Structured Light Vision Sensing

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  • Weld seam tracking extraction method based on line laser structured light vision sensing
  • Weld seam tracking extraction method based on line laser structured light vision sensing
  • Weld seam tracking extraction method based on line laser structured light vision sensing

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[0058] In order to better express the technical solutions and beneficial effects of the entire invention, the present invention will be described in further detail below with reference to the accompanying drawings and implementation cases. Embodiments of the present invention are not limited thereto.

[0059] Step 1: A method for welding seam tracking and extraction based on line laser structured light vision sensing. The workflow is as follows. The active vision robot seam tracking system of the present invention mainly includes a three-line laser vision sensor, a welding robot system and an industrial control system. computer, etc. figure 1 shown. In this mode, the sensor follows the movement of the manipulator, which can adjust the camera posture flexibly, without the target being blocked, and the measurement accuracy is high. The three-line laser vision sensor is mainly composed of a red-line laser module, an industrial camera and a protective glass, etc., which are fix...

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Abstract

Welding serves as an important connecting method in the modern machining and manufacturing field, and more and more permeates into machining of multi-variety and multi-type materials in all industries and all fields. At present, as the requirement for weld joint detection precision and trajectory planning is high, and multi-disciplinary and multi-field knowledge is involved, the autonomous recognition and tracking ability is not perfect, and multi-field experts and scholars are still needed for further deep research. Based on the above analysis, the laser vision welding seam detection tracking system is constructed based on the welding robot from the aspects of sensors, welding seam recognition and feature extraction, welding seam tracking control technology and the like.

Description

technical field [0001] The invention relates to the field of welding seam tracking, and designs a welding seam tracking extraction method based on line laser structured light vision sensing. [0002] technical background [0003] In recent years, with the continuous innovation and development of computer information technology and intelligent robot technology, teaching welding robots have gradually replaced manual welding with many drawbacks in the fields of automobile manufacturing and shipbuilding. Although the quality and efficiency of welding have been improved, due to the robot The intelligent level of the welding robot is not high. Before welding, the industrial welding robot still needs to manually control the motion of the welding robot through the teach pendant, and plan the parameters such as the trajectory path and the attitude of the welding torch by visual inspection. As one of the core process technologies in automobile manufacturing, continuous thin plate weldi...

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Application Information

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IPC IPC(8): B25J9/16B25J19/00B23K9/127B23K9/32
CPCB25J9/1692B25J19/0095B23K9/1274B23K9/32
Inventor 李湘文杨龙程葳蕤罗权王璐刘鉴轲
Owner XIANGTAN UNIV