Bending weld seam tracking method based on CCD

Abstract

The present invention relates to a curved weld seam tracking method based on CCD. Said method includes the following steps: firstly, extracting position information of whole weld seam from CCD image, comparing position change of same point on the weld seam in two pictures, then solving the displacement of welding gun which is moved for every time, then utilizing displacement accumulation to obtain the absolute deviation of welding gun displacement, finally controlling leftward and rightward movement of cross siliding block and can ensure that the welding gun can be always aligned with the welding seam.

Description

technical field [0001] The invention relates to a CCD-based bending seam tracking method. Background technique [0002] The first thing to be realized in welding automation is seam tracking. At present, the welding seam tracking with CCD as the sensor is the most commonly used method. It is to fix the CCD sensor and the welding torch on the same mechanism, that is, the cross slider, and the CCD is installed in front of the welding torch to take images of the welding seam. . The captured images are processed by computer to obtain the position of the weld seam. Comparing the position of the welding seam with the corresponding position of the welding torch, the deviation of the welding seam can be obtained. This deviation is used to adjust the cross slider so that the welding torch is always aligned with the welding seam, so that the welding torch can track the welding seam. This method is widely used in steel plate splicing and spiral pipe manufacturing. However, if the cu...

AI Technical Summary

Problems solved by technology

However, using the current method for tracking control, since the CCD sensor is usually installed in front of the welding torch, the CCD and the welding torch are fixed, and there is a certain distance L between them

The deviation detected by CCD is actually the deviation of the welding seam under the CCD. Using this deviation to control the welding torch can only make the welding seam under the welding torch and CCD consistent, but cannot guarantee that it is consistent with the welding seam under the welding torch

When the weld seam is relatively flat (that is, the curvature is small), although this method has an impact on the tracking accuracy, it is not very large; but when it encounters a curved weld seam (the curvature is large), the error is very large, and it is impossible to track the tracking accuracy. for accurate tracking

This problem is caused by treating the deviation of the weld seam under the CCD as the deviation under the welding torch, but almost all of the current CCD seam tracking uses this rough method

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