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A stable and precise visual seam tracking system

A tracking system and sophisticated technology, applied in the field of precision visual weld seam tracking system, can solve problems such as arc light interference, complex image processing, short weld seam, etc., and achieve the effect of stable features of interest and good imaging effect

Active Publication Date: 2021-06-25
INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are factors such as thermal deformation, magnetic deflection, and welding wire bending during the welding process. This advanced welding seam tracking method makes welding deviation occur during the welding process.
In order to eliminate the leading error caused by these factors, some researchers use optimized imaging to reduce the distance between the structured light and the molten pool, but the arc light interference is serious, the post-image processing is complicated, and the stability is poor; another part of the researchers uses a high dynamic camera. Directly image the molten pool and its front weld seam, but the weld seam that can be obtained in high-speed MAG welding is short, and it is difficult to calculate the deviation in time to guide the welding torch movement

Method used

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  • A stable and precise visual seam tracking system
  • A stable and precise visual seam tracking system

Examples

Experimental program
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Effect test

Embodiment 1

[0025] see figure 1 , which is a structural schematic diagram of a stable precision visual seam tracking system of the present invention.

[0026] Such as figure 1 , a stable and precise visual seam tracking system, comprising a welding torch 1, a controller 2, a laser 3, a dual-target imaging device 4 and a processor 5, the welding torch 1, the controller 2, a laser 3, a dual-target imaging The device 4 and the processor 5 are installed on the mobile platform 6, wherein the controller 2 and the processor 5 are not limited to be installed on the mobile platform 6, only need to ensure the connection between the controller 2 and the processor 5 and other components That's it.

[0027] The laser 3 is used to project structured light 31 around the joint to be welded 8 connected to the front area of ​​the molten pool 7; the dual-target imaging device 4 includes a first camera 41 and a second camera 42, the The dual-target surface imaging device 4 is used to collect image signals...

Embodiment 2

[0036] A stable precision visual seam tracking system as described above, the difference of this embodiment is that, as figure 2 As shown, a barrier lens 46 is provided at the bottom of the dual-target surface imaging device 4 to block the impact of welding slag in the welding process on the first camera 41, the second camera 42 and the semi-reflective lens 43. The damage caused, wherein, the material of the barrier lens 46 requires that the light reflected by the target to be monitored can pass through the barrier lens 46 and reach the semi-reflective lens 43, so as not to affect the imaging effect.

Embodiment 3

[0038] A stable precision visual seam tracking system as described above, the difference of this embodiment is that, as figure 2 As shown, a filter structure 47 is provided on the light transmission direction of the first camera 41 and the second camera 42, and the filter structure 47 is arranged above the semi-reflective lens 43. The optical structure 47 is used to filter out arc light interference in some wavelength bands.

[0039] Further, a light reduction structure 48 is also provided in the light transmission direction of the first camera 41 and / or the second camera 42, and the light reduction structure 48 is arranged above the semi-reflective lens 43, so The light reduction structure 48 is used to reduce light entering the first camera 41 and / or the second camera 42 to obtain a reasonable exposure. Whether it is necessary to set the light reduction structure 48 needs to be determined according to the actual situation of imaging of the first camera 41 or the second cam...

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Abstract

The invention provides a stable and precise visual seam tracking system, which includes a welding torch installed on a mobile platform, a laser, a dual-target surface imaging device, a processor and a controller; the laser uses structured light to project around the seam to be welded; The dual-target surface imaging device collects the image signal of the welding area at the same time; the processor processes the structured light image modulated by the seam to be welded, and controls the rough adjustment of the mobile platform through the controller. Obtained imaging feature parameters, and at the same time according to the relative pose parameters between the laser, dual-target surface imaging device, and the seam to be welded, the spatial pose deviation parameters of the welding torch are obtained in real time, and the relative spatial pose of the welding torch is fine-tuned through the controller . The beneficial effect of the present invention is that, at the same time of rough adjustment of the mobile platform and fine adjustment of the welding torch, a laser is introduced to emit structured light at the joint to be welded, which resists the influence of arc flicker and makes the tracking system more stable and precise.

Description

technical field [0001] The invention relates to the field of welding, in particular to a stable and precise visual welding seam tracking system. Background technique [0002] High-speed MAG welding is widely used in the manufacture of large-scale equipment such as ships, rail transit, marine engineering equipment, and nuclear power. High-speed MAG welding precision seam tracking is a key technology for realizing intelligent welding of such large-scale equipment. Visual seam tracking technology has the advantages of comprehensive information acquisition, no contact, high progress, fast response, etc. It has certain industrial applications in seam tracking of laser welding, TIG welding, and MAG welding. [0003] In order to reduce the interference of arc light on imaging during the welding process, the structured light-assisted mode is mainly used at present: the linear structured light is projected on the weld to be welded at a certain distance in the front area of ​​the molt...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127B23K9/173
CPCB23K9/1274B23K9/173
Inventor 毕齐林蒋晓明刘晓光赫亮李亚男朱玉龙
Owner INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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