Welding groove size and welding gun relative pose high-precision detection method and device

Abstract

The invention discloses a high-precision detection method and device for the size of a welding groove and the relative pose of a welding gun, and the method comprises the steps: collecting a single deformation laser line image through a visual sensor; processing the deformed laser line image to obtain two-dimensional laser line data points; carrying out two-dimensional data segmentation on the deformed laser line image; obtaining three-dimensional segmented point cloud data of the deformed laser rays through a visual sensor detection model; plane fitting is carried out on the segmented three-dimensional point cloud data, and plane equations of a plane workpiece welding groove surface and a welding groove surface neighborhood workpiece surface are obtained through reconstruction; and according to the plane equation obtained through reconstruction, the size of the welding groove and pose parameters of a welding gun relative to the welding groove are solved. According to the invention, the integrated detection of the welding groove size parameter and the welding gun relative pose parameter of the visual sensor relative to any pose of the welding groove is realized, the detection precision and adaptability are high, and the detection robustness and integration of the visual sensor are improved at the same time.

Description

technical field [0001] The invention relates to the technical fields of visual inspection and welding intelligence, in particular to a high-precision detection method and device for the size of a welding groove and the relative pose of a welding torch. Background technique [0002] For the welding of large flat workpieces, there will inevitably be certain size and bevel angle deviations in the welding groove processing of the workpieces, and there will also be problems such as joint misalignment, angle and size deviation, and inconsistent assembly gaps during assembly. At the same time, the welding process Due to the existence of welding thermal deformation, it will further lead to changes in the size and angle of the welding groove. These factors seriously affect the stability of the welding process and the welding seam forming quality of the joint. The traditional welding process method of preset welding torch trajectory no longer applicable. In recent years, with the dev...

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Problems solved by technology

However, in these studies, the visual sensor did not realize the integrated detection of the welding groove size parameters and the relative pose parameters of the welding torch. The detection methods studied are all based on the extraction and calculation of image feature points, so the robustness of the detection algorithm is not strong enough, and the detection accuracy is not high enough

[0005] Based on the above, there is currently no high-precision detection method for welding groove size parameters suitable for line structured light vision sensors in any pose, and there is no integrated detection of welding groove size parameters and welding torch relative pose parameters method

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