Detecting method of starting point of welding line based on structured light vision sensor

Abstract

The invention discloses a detecting method of a starting point of a welding line based on a structured light vision sensor. The detecting method comprises the steps that step 1, a robot is moved to the structured light vision sensor to start to detect an area; step 2, the structured light vision sensor moves in the direction of the starting point of the welding line at a speed S1 and detects the number and area of communicating areas in a dynamic area-of-interest in an image in real time; step 3, when the number and area of the communicating areas in the dynamic area-of-interest in the image is detected to be changed sharply, the structured light vision sensor is driven to move in the reverse direction; step 4, the structured light vision sensor moves in the reverse direction, and when thestate of the number and area of the communicating areas in the dynamic area-of-interest in the image coincides with the state at the beginning of detection, the position of the starting point of thewelding line is identified; and step 5, the scanning movement is stopped, and the detection is completed. The detecting method adopts a combination method of fast scanning and slow scanning to enablethe detection of the starting point of the welding line to be fast and accurate, and the application range of the structured light vision sensor is expanded.

Description

technical field [0001] The invention belongs to the field of intelligent welding of robots, and relates to a method for detecting the starting point of a welding seam of a structured light vision sensor for a robot. Background technique [0002] A key issue in robotic intelligent welding is the positioning of the workpiece. Due to the manufacturing error and positioning error of the workpiece to be welded, simply using robot welding cannot guarantee the consistency of weld quality and cannot meet the quality requirements of production. Due to its non-contact, high measurement accuracy and fast measurement speed, the structured light vision sensor is more and more used in the field of robot welding. The structured light vision sensor converts the weld recognition point in the image into the weld space point in the robot coordinate system after collecting the laser line image, image processing and weld recognition. The robot controller controls the end of the robot to realize...

AI Technical Summary

Problems solved by technology

[0004] The present invention proposes a method for detecting the starting point of a weld seam based on a structured light vision sensor, and its purpose is to provide a simple and effective way to solve the problem of inconsistent shape and size of workpieces to be welded and poor positioning accuracy of tooling fixtures in the intelligent welding process of robots. The position deviation of the starting point of the weld caused by high

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