Welding seam visual tracking system based on laser structured light and method

Abstract

The invention provides a welding seam visual tracking system based on laser structured light. The system comprises a visual tracking module, a robot module, a welding gun module and a communication module, wherein the visual tracking module comprises a CCD camera, a structured light laser device, an image acquisition card and a controller for processing the laser weld image; the CCD camera and thestructured light laser device in the visual tracking module are installed on the robot module through a three-dimensional motion measuring system, the controller is used for performing data transmitting to the robot module and the welding gun module through the communication module; and a coordinate identification device is arranged in the robot module and used for determining the identificationpoint serving as a reference, the method used by the system controls the use of a welding gun through a series of image processing. According to the system and the method, automatic correct deviationof the welding robot in real time in the welding process can be realized, the quality of the welding seam is improved, the application range of the welding robot is expanded, the application of the welding seam visual sensing tracking technology can improve the quality and precision of a welding part, the production cycle of products is shortened, and the production efficiency of the product is improved.

Description

technical field [0001] The invention relates to a visual sensing device, in particular to a welding seam visual tracking system and method based on laser structured light. Background technique [0002] At present, the development overview and latest development trend of scientific and technological innovation in this project field at home and abroad: [0003] After continuous research and practice by many researchers, visual sensing technology has developed rapidly. The construction of the laser visual seam tracking system includes the design of the visual seam tracking sensor, the processing of the collected seam images, the communication between the computer and the robot, and the design of the control system. Many research institutions and scholars at home and abroad have done a lot of work on these aspects of research. [0004] (1) Domestic research status [0005] In 2005, Li Yuan and other scholars from the Chinese Academy of Sciences designed a visual sensor based ...

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Problems solved by technology

[0016] The present invention provides a welding seam visual tracking system and method based on laser structured light, which solves the problem of welding seam visual tracking in the field of welding automation intelligent sensing and control, and its technical scheme is as follows:

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