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Robot initial welding position recognition system and method based on monocular vision sensing

A monocular vision and recognition system technology, applied in the field of arc welding robot guidance control system, to achieve the effect of flexible and convenient image capture and processing, acceleration speed, and omitting complicated steps

Inactive Publication Date: 2011-12-21
SHANGHAI JIAO TONG UNIV +1
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Problems solved by technology

[0006] Aiming at the deficiencies and needs of the above-mentioned prior art, the present invention provides a robot initial welding position recognition system and method based on monocular vision sensing, thereby solving the technical problem of guiding the robot to accurately move to the starting point of the welding path

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  • Robot initial welding position recognition system and method based on monocular vision sensing

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Embodiment Construction

[0030] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0031] Such as figure 1 As shown, the robot GMAW initial welding position recognition system based on monocular vision sensing in this embodiment includes: a welding robot, a monocular vision sensing system, a main control computer, and an auxiliary light source, wherein:

[0032] The welding robot is used to weld the workpiece to be welded, and after it moves the corresponding position, it sends a shooting permission signal to the main control computer; the corresponding position described in this specific embodiment may be a position with a fixed height relative to ...

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Abstract

The invention provides a robot initial welding position recognition system based on monocular vision sensing, including a welding robot; The main control computer receives the shooting permission signal sent by the welding robot, and then controls the monocular vision sensing system to take pictures of the welding seam scene, and processes the pictures taken, and guides the welding according to the processing results. The robot reaches the starting point of the weld seam. The invention can more flexibly and conveniently take and process images of workpieces to be welded through the monocular vision sensing system. The complex steps of binocular vision sensor installation and calibration are omitted, and the limitation that contact sensing can only be used for workpieces with regular shapes is avoided.

Description

technical field [0001] The invention relates to a guidance control system and method for an arc welding robot, in particular to an initial welding position recognition system and method for an arc welding robot. Background technique [0002] In the welding process, the traditional teaching reproduction welding robot has very strict requirements on the stability of the welding operation conditions, lacks flexibility during welding, has low programming efficiency for welds with complex shapes, and cannot realize real-time detection and control of the dynamic process of welding , unable to meet the high-quality and high-precision welding requirements for complex weldments. In order to overcome the influence of various uncertain factors on the welding quality, the welding robot system is required to have the function of real-time detection and adjustment control. By assembling various sensing devices on the welding robot, it has a certain perception ability to the external envir...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/095B23K9/32
Inventor 詹超刘信诠叶震陈华斌林涛陈善本李忠杰杨惠勤李杰
Owner SHANGHAI JIAO TONG UNIV
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