Multi-view composite function welding camera, intelligent welding system and intelligent welding method

Abstract

The invention provides a multi-view composite function welding camera, an intelligent welding system and an intelligent welding method. The multi-view composite function welding camera comprises a binocular laser stereo camera module used for dynamic scanning and static scanning; the molten pool monitoring module is used for monitoring the molten pool and comprises a third-eye camera and a molten pool light supplementing lamp, the observation view angle of the third-eye camera is the welding molten pool and a welding seam area at the front end of the molten pool, and the third-eye camera is used for capturing the shape and temperature distribution state of the molten pool and the position and width of a welding seam; the irradiation view angle of the molten pool light supplementing lamp is matched with the observation view angle of the third-eye camera and used for irradiating a molten pool area and a weld joint area in front of the molten pool, and supplementary light is provided for observation of the third-eye camera. The multi-view composite function welding camera can monitor a molten pool on the basis of a traditional binocular line laser camera, is intelligent sensing equipment integrating the functions of three-dimensional scanning modeling, molten pool monitoring and the like, and is beneficial for achieving intelligent welding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D vision, and more particularly, to a multi-view composite functional welding camera, an intelligent welding system and an intelligent welding method. BACKGROUND

[0002] A stereo camera can acquire three-dimensional information of a target object in a scene, realize identification, positioning, 3D measurement, grabbing, etc. of the target object, and is widely applied in various fields such as industrial automation, logistics, coal, steel, transportation, service, and agriculture. SUMMARY

[0003] The present application provides a multi-view composite functional welding camera, an intelligent welding system and an intelligent welding method. The multi-view composite functional welding camera can realize monitoring of a molten pool on the basis of a traditional binocular line laser camera, is an intelligent sensing device integrating functions such as three-dimensional scanning modeling and molten pool monitoring, and is helpful to realize intelligent welding.

[0004] In a first aspect, a multi-view composite functional welding camera is provided, comprising a binocular line laser stereo camera module for dynamic scanning and static scanning;

[0005] Further comprising a molten pool monitoring module for monitoring a molten pool, comprising a third-view camera and a molten pool light supplementing lamp, an observation viewing angle of the third-view camera is a welding seam area in front of the molten pool, the third-view camera is used for capturing a form, a temperature distribution state of the molten pool and a position and a width of the welding seam, an irradiation viewing angle of the molten pool light supplementing lamp matches the observation viewing angle of the third-view camera, and the molten pool light supplementing lamp is used for irradiating the molten pool area and the welding seam area in front of the molten pool to provide light supplement for observation of the third-view camera.

[0006] In combination with the first aspect, in a possible implementation manner, the multi-view composite functional welding camera integrates functions such as three-dimensional modeling before welding, welding seam tracking during welding, molten pool observation, and welding seam monitoring, and can send a signal to a welding robot to control the welding robot to adaptively adjust a welding posture.

[0007] In combination with the first aspect, in a possible implementation manner, a trigger logic of the welding robot to adaptively adjust the welding posture is that, based on molten pool state and welding seam information data collected by the third-view camera and scanning data of the binocular line laser stereo camera module, a linkage analysis is performed to output an adjustment instruction.

[0008] In combination with the first aspect, in a possible implementation manner, light supplement parameters of the molten pool light supplementing lamp are adapted to observation parameters of the third-view camera, the light supplement parameters include illumination intensity and illumination angle, and the observation parameters include exposure and shooting frame rate.

[0009] With reference to the first aspect, in a possible implementation manner, the binocular line laser stereo camera module completes three-dimensional modeling of the welded object through static scanning modeling, and provides basic data for welding path planning; the binocular line laser stereo camera module assists in welding seam position calibration in the welding process through a dynamic scanning function.

[0010] With reference to the first aspect, in a possible implementation manner, the binocular line laser stereo camera module comprises a laser projection module, a binocular camera module and a main control circuit board; the laser projection module is configured to project line laser to the welded object; the binocular camera module is configured to perform image acquisition;

[0011] The main control circuit board is electrically connected with the binocular camera module, the laser projection module, the third-eye camera and the molten pool light, and is configured to control turning on and off of the binocular camera module, the laser projection module, the third-eye camera and the molten pool light, and receive images acquired by the binocular camera module and the third-eye camera, and perform image processing on the images to obtain corresponding task processing results.

[0012] With reference to the first aspect, in a possible implementation manner, the binocular line laser stereo camera module further comprises a binocular module light, an illumination angle of the binocular module light matches an observation angle of the binocular camera module, and the binocular module light is configured to irradiate a region of the welded object to provide light compensation for observation of the binocular camera module.

[0013] With reference to the first aspect, in a possible implementation manner, the laser projection module comprises a motor and a line laser installed on the motor, and the motor is configured to drive the line laser to swing.

[0014] The second aspect provides an intelligent welding system, comprising:

[0015] the multi-eye composite functional welding camera according to any one of the first aspect; and

[0016] a welding robot in communication connection with the multi-eye composite functional welding camera.

[0017] The second aspect provides an intelligent welding method, comprising:

[0018] S1: a pre-welding preparation stage: a three-dimensional model of the welded object is acquired through static scanning by the binocular line laser stereo camera module, and a welding path is planned based on the three-dimensional model;

[0019] S2: welding process monitoring stage: the welding robot starts the welding operation according to the planned welding path, and at the same time, the molten pool area and the weld area in front of the molten pool are provided with light compensation through the molten pool light compensation lamp in the molten pool monitoring module, and the third-eye camera collects the shape, temperature information of the molten pool and the position offset data of the weld; dynamic scanning is performed through the binocular line laser stereo camera module to assist in calibrating the real-time position of the weld.

[0020] S3: welding robot posture adaptive adjustment stage: the molten pool state, weld information data collected by the third-eye camera and the dynamic scanning data collected by the binocular line laser stereo camera module are analyzed in linkage, when the molten pool shape is abnormal or the weld position is offset, a posture adjustment instruction is generated and sent to the welding robot; after receiving the instruction, the welding robot adjusts the angle, height and advancing speed of the welding gun. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 is a structural schematic diagram of a welding camera provided by the embodiment of the application;

[0022] Fig. 2 is a structural schematic diagram of a welding camera from another angle provided by the embodiment of the application.

[0023] MARKED FOR EXPLANATION:

[0024] 1: binocular line laser stereo camera module; 11: laser projection module; 111: motor; 112: line laser; 113: binocular module light compensation lamp; 12: binocular camera module; 13: main control circuit board; 14: adapter plate;

[0025] 2: molten pool monitoring module; 21: third-eye camera; 22: molten pool light compensation lamp. DETAILED DESCRIPTION

[0026] The technical solutions in the application will be described below with reference to the drawings.

[0027] It should be noted that, in the description of the embodiments of the application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in this paper only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases: A exists alone, A and B exist together, and B exists alone.

[0028] The terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or a specific number of features indicated. Thus, features defined with "first", "second" etc. can include one or more of the features implicitly or explicitly. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two, "at least one" and "one or more" mean one, two or more than two. The singular expressions "one", "a kind", "the", "the above", "the" and "this" are intended to also include expressions such as "one or more", unless the context clearly indicates otherwise.

[0029] In the present description, the reference to "one embodiment" or "some embodiments" and the like means that the particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, the statements "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments" and the like appearing in various places throughout the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically stated. The terms "including", "containing", "having" and their variants mean "including but not limited to", unless otherwise specifically stated.

[0030] In the description of the embodiments of the present application, the terms "upper", "lower", "inner", "outer", "vertical", "horizontal" and the like indicate the orientation or positional relationship defined with respect to the orientation or position in which the components are placed in the drawings. It should be understood that these directional terms are relative concepts and are used for relative description and clarification, and do not indicate or imply that the device or component must have a specific orientation or be constructed and operated in a specific orientation, which can be changed accordingly according to the orientation of the components placed in the drawings, and therefore cannot be construed as a limitation on the present application. In addition, "vertical" in the present application is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0031] It should be noted that the features in the following embodiments and implementation modes can be combined with each other without conflict.

[0032] As described above, the stereo camera can acquire three-dimensional information of the target object in the scene, realize recognition, positioning, 3D measurement, grabbing, etc. of the target object, and is widely used in industrial automation, logistics, coal, steel, transportation, service, agriculture and other fields.

[0033] But in some application fields with complex working environment, the image data acquisition quality of the existing stereo camera is low, which cannot meet the application requirements of high-precision recognition, positioning, 3D measurement, grabbing and the like. For example, in the application field of industrial automatic welding, welding dust diffuses in the environment during high-temperature welding, and there is high-brightness arc light during welding, so the complex lighting environment poses a challenge to the working performance of the stereo camera.

[0034] The embodiment of the present application provides a multi-view composite functional welding camera, which can realize monitoring of a molten pool on the basis of a traditional binocular line laser camera, is an intelligent sensing device integrating three-dimensional scanning modeling and molten pool monitoring functions, and is helpful to realize intelligent welding.

[0035] Reference Figs. 1-2 The multi-view composite functional welding camera comprises a binocular line laser stereo camera module 1 for dynamic scanning and static scanning, and further comprises a molten pool monitoring module 2 for monitoring a molten pool, which comprises a third-view camera 21 and a molten pool light supplementing lamp 22. The observation visual angle of the third-view camera 21 is different from the observation visual angle of the binocular line laser stereo camera module 1, and the observation visual angle of the third-view camera 21 is the welding seam area of the molten pool and the front end of the molten pool. The third-view camera 21 is used for capturing the shape, temperature distribution state of the molten pool and the position and width of the welding seam. The illumination visual angle of the molten pool light supplementing lamp 22 matches the observation visual angle of the third-view camera 21, and the molten pool light supplementing lamp 22 is used for illuminating the molten pool area and the welding seam area in front of the molten pool to provide light supplement for the observation of the third-view camera 21.

[0036] The molten pool light supplementing lamp 22 can be an industrial light supplementing lamp with high brightness and narrow waveband. The illumination visual angle of the molten pool light supplementing lamp 22 matches the observation visual angle of the third-view camera, and the light supplementing parameters can be adjusted according to the observation parameters of the third-view camera. Specifically, when the shooting frame rate of the third-view camera is improved, the illumination intensity of the light supplementing lamp is also improved synchronously to ensure the picture definition of the molten pool and the welding seam area and meet the real-time monitoring requirement.

[0037] The binocular line laser stereo camera module 1 can comprise a laser projection module 11, a binocular camera module 12 and a main control circuit board 13. The laser projection module 11 is used for projecting line laser to a welded object. The binocular camera module 12 is used for image acquisition. The main control circuit board 13 is electrically connected with the binocular camera module 12, the laser projection module 11, the third-view camera 21 and the molten pool light supplementing lamp 22, and is used for controlling the opening and closing of the binocular camera module 12, the laser projection module 11, the third-view camera 21 and the molten pool light supplementing lamp 22, receiving the images acquired by the binocular camera module 12 and the third-view camera 21, and performing image processing on the images to obtain corresponding task processing results.

[0038] In the embodiment shown, the binocular camera module 12 can include two cameras, which can be disposed on the two sides of the laser projection module 11 respectively to form a binocular vision system. It should be noted that the two cameras can be black-and-white cameras or color cameras.

[0039] In the embodiment shown, the binocular line laser stereo camera module 1 further includes a binocular module fill light 113, the illumination angle of the binocular module fill light 113 matches the observation angle of the binocular camera module 12, and the binocular module fill light 113 is used to illuminate the welding object area to provide fill light for the observation of the binocular camera module 12.

[0040] In the embodiment shown, the laser projection module 11 is a straight swing type, which includes a motor 111 and a line laser 112 mounted on the motor 111, and the motor 111 is configured to drive the line laser 112 to swing. When the motor 111 is in a working state, the motor 111 drives the line laser 112 to rotate to project the laser stripe output by the line laser 112 to different positions of the welding object. The laser scanning structure of the straight swing type has a smaller size and a more compact overall structure, and is particularly suitable for a stereo camera with high size requirements.

[0041] It should be understood that the laser projection module 11 can further include other accessories, which can be specific to the prior art and will not be described in detail herein.

[0042] In an alternative embodiment not shown, the laser projection module 11 can be a mirror type, and the specific structure is known in the art and will not be described in detail herein.

[0043] In the embodiment shown, the binocular line laser stereo camera module 1 can further include an adapter plate 14, and the laser projection module 11, the binocular camera module 12, the binocular module fill light 113, the third camera 21, and the molten pool fill light 22 can be disposed on the front side region of the adapter plate 14, and the main control circuit board 13 is disposed on the rear side region. The adapter plate 14 has little effect on the size of the camera in the width direction, and the layout of different structures on the front and rear sides is conducive to reducing the size of the camera in the width direction, thereby improving the compactness of the camera structure and facilitating the assembly of the camera.

[0044] In an embodiment not shown, the camera can further include a housing having an accommodation space.

[0045] The housing can provide corresponding mounting regions or spaces for the binocular line laser stereo camera module 1 and the molten pool monitoring module 2, and realize the integration and concentration of various components or structural members to combine a stereo camera. The housing can be a hollow structure, thereby forming an accommodation space inside, so that the above-mentioned various components or structural members can be disposed therein.

[0046] In some embodiments, the shell can include a main body structure, and further include a protection device. An inner portion of the main body structure can be formed with an accommodation space, and the main body structure can be provided with a working window of the binocular line laser stereo camera module 1 and the molten pool monitoring module 2. The protection device can include a driving assembly and a cover plate, the driving assembly can be fixedly connected to the main body structure of the shell, and the cover plate can be in transmission connection with the driving assembly and rotate under the driving of the driving assembly to switch between a closed state and a flip state. When in the closed state, the cover plate covers the front side of the main body structure to at least shield the working window. When in the flip state, the cover plate is flipped to a position to expose the working window.

[0047] The material of the main body structure is generally a non-transparent material, such as a metal material. Therefore, in order to ensure that light can pass through the shell, so that the line laser 112, the binocular module fill light 113, the binocular camera module 12, the third camera 21 and the molten pool fill light 22 can work, the shell (such as the main body structure) can be provided with a corresponding working window. In some application scenarios, the working environment of the camera is relatively dusty (such as welding, coal transportation, etc.). After a long time of work, the surface of the camera, especially the surface where the working window is located, is often covered with solid powders such as dust and dirt, thereby affecting the image acquisition quality of the camera. In this technical solution, the protection device is configured to reduce the coverage of dust, dirt and other solid powders on the surface where the working window is located, thereby achieving the effect of dust prevention. Specifically, when the camera does not need to acquire images, that is, when the camera does not work, the cover plate can be driven by the driving assembly to be in the closed state, thereby shielding the working window, so that the surface where the working window of the camera is located is not always exposed to the working environment. When the camera needs to acquire images, the cover plate can be driven by the driving assembly to be in the flip state, that is, the cover plate is flipped until the working window is exposed.

[0048] The material of the working window can be a transparent material, such as glass, plastic, etc., which can prevent dust and water and allow light to pass through. In some embodiments, the material of the working window can be a filter, that is, a filter is installed at the position of the working window, thereby improving the image acquisition quality.

[0049] In some embodiments, the main body structure can be designed as an integrated structure. In some embodiments, the main body structure can be designed as a split structure, thereby facilitating assembly and maintenance. Specifically, the main body structure can include a front shell and a rear shell, which can be fixedly connected together in a detachable manner to form the main body structure of the shell. It should be understood that the working window is provided on the front shell.

[0050] It should be noted that the adapter plate 14 can be fixedly connected to the inner wall of the main body structure. When the main body structure comprises a front shell and a rear shell, the adapter plate 14 can be fixedly connected to the inner wall of the front shell or the inner wall of the rear shell. The laser projection module 11, the binocular camera module 12, the third eye camera 21, and the molten pool light supplement lamp 22 can be fixedly connected to the adapter plate 14 or the inner wall of the main body structure (such as the front shell), which can be determined according to the size of the camera internal space and production convenience. The control circuit board can be fixedly connected to the adapter plate 14 or the inner wall of the main body structure (such as the rear shell). In order to facilitate assembly, the main control circuit board 13 is preferably fixedly connected to the adapter plate 14.

[0051] In the embodiment shown, the multi-eye composite functional welding camera integrates the functions of welding pre-three-dimensional modeling, welding seam tracking, molten pool observation, and welding seam monitoring, and can send signals to the welding robot to control the welding robot to adaptively adjust the welding posture.

[0052] In the embodiment shown, the trigger logic for the welding robot to adaptively adjust the welding posture is that, based on the molten pool state and the welding seam information data collected by the third eye camera 21 and the scanning data of the binocular line laser stereo camera module 1, linkage analysis is performed to output an adjustment instruction.

[0053] In the embodiment shown, the light supplement parameters of the molten pool light supplement lamp 22 are adapted to the observation parameters of the third eye camera 21, and the light supplement parameters include illumination intensity and illumination angle, and the observation parameters include exposure and shooting frame rate.

[0054] In the embodiment shown, the binocular line laser stereo camera module 1 completes three-dimensional modeling of the welding object through static scanning modeling to provide basic data for welding path planning; the binocular line laser stereo camera module 1 assists in welding seam position calibration in the welding process through a dynamic scanning function.

[0055] The embodiment of the application further provides an intelligent welding system, comprising:

[0056] The multi-eye composite functional welding camera provided by any of the foregoing embodiments; and

[0057] A welding robot in communication connection with the multi-eye composite functional welding camera.

[0058] The welding camera can be connected to the host computer (laptop, desktop, mobile phone, tablet, vehicle terminal, computing box, controller, etc.) in wired or wireless communication. The welding camera can collect images of the target scene and generate image information based on the collected images. The image information includes at least one of the following: two-dimensional image, depth image and point cloud data. The welding camera can output the image information to the host computer, and the host computer can execute vision-related applications based on the image information, such as welding workpiece positioning, weld extraction, object modeling, molten pool monitoring, and welding path planning, which can support intelligent welding.

[0059] The welding camera can also directly execute vision-related applications based on image information, and the execution results are output to the host computer. At this time, the welding camera can also output the image information to the host computer.

[0060] The host computer can also have a display function, such as the host computer can be equipped with a display screen or an external display, so that it can display image information and execution results. The host computer can also have an interactive function, such as the host computer can be equipped with a touch screen or an external mouse, keyboard, etc.

[0061] The welding camera or the host computer can also be connected to the execution device in wired or wireless communication, so that the execution device can perform corresponding operations according to the execution results. The execution device can be a robot, such as a humanoid robot used for welding.

[0062] It should be understood that in the embodiments shown, the welding robot can be both an execution device and a host computer.

[0063] The embodiments of the present application also provide an intelligent welding method, comprising:

[0064] S1: Welding preparation stage: static scanning is performed by a binocular line laser stereo camera module to obtain a three-dimensional model of the welding object, and a welding path is planned based on the three-dimensional model;

[0065] S2: Welding process monitoring stage: the welding robot starts the welding operation according to the planned welding path, and at the same time, the molten pool area and the weld area in front of the molten pool are provided with light compensation by the molten pool light compensation lamp in the molten pool monitoring module. The third camera collects the shape, temperature information of the molten pool and the position offset data of the weld. Dynamic scanning is performed by the binocular line laser stereo camera module to assist in calibrating the real-time position of the weld.

[0066] S3: Welding robot posture self-adaptive adjustment stage: the molten pool state and weld information data collected by the third camera and the dynamic scanning data collected by the binocular line laser stereo camera module are analyzed in linkage. When the molten pool shape is abnormal or the weld position is offset, a posture adjustment instruction is generated and sent to the welding robot. After receiving the instruction, the welding robot adjusts the angle, height and speed of the welding gun.

[0067] It can be seen that the multi-view composite function welding camera realizes the integrated installation of the binocular line laser stereo camera, the third view camera and the molten pool light supplementing lamp through the reasonable layout of the hardware structure, avoids the interference between the components; through the function linkage design, the three-dimensional modeling before welding, the dynamic monitoring during welding and the adaptive adjustment of the robot posture are integrated, the limitation of the single function of the traditional equipment is broken, and the intelligent level of the welding operation and the stability of the welding quality are greatly improved.

[0068] The technical solutions provided by the embodiments of the present application are described in detail above, specific examples are applied in this paper to describe the principles and implementation modes of the present application, the above embodiment description is only used to help understand the method and core idea of the present application; at the same time, for the general technical personnel in the art, according to the idea of the present application, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the idea and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-view composite function welding camera, characterized in that, Includes a binocular laser stereo camera module for dynamic and static scanning; It also includes a molten pool monitoring module for monitoring the molten pool, including a third-eye camera and a molten pool filler light. The observation angle of the third-eye camera is the welding molten pool and the weld area in front of the molten pool. The third-eye camera is used to capture the shape of the molten pool, the temperature distribution, and the position and width of the weld. The illumination angle of the molten pool filler light is matched with the observation angle of the third-eye camera and is used to illuminate the molten pool area and the weld area in front of the molten pool, providing supplementary lighting for the observation of the third-eye camera.

2. The multi-view composite function welding camera according to claim 1, characterized in that, The multi-view composite welding camera integrates functions such as pre-welding 3D modeling, weld seam tracking during welding, molten pool observation, and weld seam monitoring. It can also send signals to the welding robot to control the welding robot to adaptively adjust its welding posture.

3. The multi-view composite function welding camera according to claim 2, characterized in that, The triggering logic for the welding robot to adaptively adjust its welding posture is as follows: based on the molten pool state and weld information data collected by the third eye camera and the scanning data from the binocular laser stereo camera module, an adjustment command is output after linkage analysis.

4. The multi-view composite function welding camera according to claim 1, characterized in that, The supplementary lighting parameters of the molten pool filler lamp are adapted to the observation parameters of the third eye camera. The supplementary lighting parameters include light intensity and light angle, and the observation parameters include exposure and shooting frame rate.

5. The multi-view composite function welding camera according to claim 1, characterized in that, The binocular laser stereo camera module completes the three-dimensional modeling of the welded object through static scanning modeling, providing basic data for welding path planning; the binocular laser stereo camera module assists in the weld position calibration during the welding process through dynamic scanning function.

6. The multi-view composite function welding camera according to any one of claims 1 to 5, characterized in that, The binocular line laser stereo camera module includes a laser projection module, a binocular camera module, and a main control circuit board; the laser projection module is used to project line lasers onto the object being welded; the binocular camera module is used for image acquisition. The main control circuit board is electrically connected to the binocular camera module, the laser projection module, the third-eye camera, and the molten pool fill light. It is used to control the opening and closing of the binocular camera module, the laser projection module, the third-eye camera, and the molten pool fill light, as well as to receive images acquired by the binocular camera module and the third-eye camera, and perform image processing on the images to obtain corresponding task processing results.

7. The multi-view composite function welding camera according to claim 6, characterized in that... The binocular line laser stereo camera module also includes a binocular module fill light. The illumination angle of the binocular module fill light is matched with the observation angle of the binocular camera module, and is used to illuminate the area of ​​the welded object to provide supplementary lighting for the observation of the binocular camera module.

8. The multi-view composite function welding camera according to claim 6, characterized in that, The laser projection module includes a motor and a line laser mounted on the motor, the motor being configured to drive the line laser to oscillate.

9. An intelligent welding system, characterized in that, include: The multi-view composite function welding camera according to any one of claims 1 to 8; and A welding robot that is communicatively connected to the multi-view composite welding camera.

10. An intelligent welding method, characterized in that, include; S1: Pre-welding preparation stage: Static scanning is performed using the binocular laser stereo camera module to obtain a three-dimensional model of the object to be welded, and the welding path is planned based on the three-dimensional model; S2: Welding process monitoring stage: The welding robot starts the welding operation according to the planned welding path. At the same time, the welding pool monitoring module provides supplementary lighting to the molten pool area and the weld area in front of the molten pool through the molten pool supplementary light. The third eye camera collects the shape and temperature information of the molten pool and the position offset data of the weld. The binocular laser stereo camera module performs dynamic scanning to assist in calibrating the real-time position of the weld. S3: Welding robot posture adaptive adjustment stage: The molten pool state and weld information data collected by the third eye camera and the dynamic scanning data collected by the binocular laser stereo camera module are analyzed in conjunction. When abnormal molten pool shape or weld position displacement is detected, a posture adjustment command is generated and sent to the welding robot. After receiving the command, the welding robot adjusts the angle, height and travel speed of the welding gun.

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