CN101655705B - Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate - Google Patents
Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate Download PDFInfo
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Abstract
The invention provides an intelligent camera based method and an intelligent camera based device for automatically tracking butt weld of a thin plate, which acquire a butt weld image by the intelligent camera and control a stepping motor to drive deflection of a welding gun by a programmable controller so as to realize automatic tracking of the welding gun on the butt weld. In a welding process, the welding gun and the intelligent camera move forward at uniform velocity along the butt weld direction. The intelligent camera is arranged on the front part of the welding gun, carries out filter and butt weld extraction for the acquired image, and outputs the position of the butt weld to the programmable controller. The programmable controller controls positive and negative rotation of the stepping motor according to the current position and an expected position of the butt weld so as to drive the welding gun to move left and right, ensure that a welding wire is on the expected position of the butt weld, and realize that the welding gun can perform welding operation along the butt weld accurately. The method and the device can improve the accuracy and reliability of butt weld tracking, and can realize automatic accurate tracking on the butt narrow weld of the thin plate so as to meet the requirement of automatic welding of thin plate butting.
Description
Technical field:
The present invention relates to the plate sheet welding technical field, is the weld joint tracking in the robot vision control field, specifically a kind of thin plate butt-weld automatic tracking method and device based on intelligent video camera head.
Technical background:
Traditional weld seam vision track adopts structure light vision to measure weld seam, be about to point or linear structure light and project surface of the work, calculate weld seam horizontal section profile (referring to " Wu Lin; Chen Shanben; intelligent solder technology, the 210th～211 page, the 215th～217 page; Beijing: National Defense Industry Press, 1999 years " by triangulation; Referring to " Lee is former for Xu De, Tan Min, and robot vision is measured and control, the 133rd page, Beijing: National Defense Industry Press, 2008 ").This structure light welding seam measuring method is applicable to the tangible weld seam of horizontal section profile is measured, as double V-groove weld seam, lap weld etc.But,, utilize structural light measurement to be difficult to weld seam and workpiece are made a distinction because weld seam is too narrow for the thin plate butt-weld.Therefore, traditional structure light vision measurement is not suitable for the measurement that thin plate docks narrow weld seam.
Traditional weld seam vision track adopts computing machine to constitute control system, and the volume of control system is big, poor reliability (referring to " Wu Lin, Chen Shanben, intelligent solder technology, the 226th page, Beijing: National Defense Industry Press, 1999 ").
Present weld seam vision track technology, one of defective of existence are to need to obtain weld seam horizontal section profile, and be powerless for the unconspicuous weld seam of horizontal section profile; Two of the defective that exists is to adopt computer control to cause that the control system volume is big, poor reliability.
Summary of the invention:
The object of the present invention is to provide a kind of thin plate butt-weld automatic tracking method and device, can overcome the deficiencies in the prior art, improve accuracy, reliability that thin plate is followed the tracks of butt-weld when welding based on intelligent video camera head.
For achieving the above object, technical solution of the present invention is:
A kind of thin plate butt-weld tracking based on intelligent video camera head, it comprises step:
A) install intelligent video camera head in the side of welding gun, intelligent video camera head is aimed at welding wire and thin plate butt-weld handing-over zone;
B) intelligent video camera head, touch-screen, stepper motor driver respectively with programmable controller between both-way communication be connected;
C) gather the natural image of weld seam with intelligent video camera head, and the processing welding lines image, provide position while welding, and data are issued programmable controller;
D) carry out the tracking error that weld seam was imported and shown to parameter by touch-screen;
E) use the data-driven stepper motor driver of programmable controller again according to intelligent video camera head, lateral frame on the control step driven by motor motorized adjustment transverse axis makes welding gun and welding wire move along the horizontal direction perpendicular to the thin plate butt-weld, to guarantee accuracy, the reliability of welding.
Described method, its described position while welding is to adopt the weld seam straight line as the feature calculation position while welding.
The device that a kind of described method is used comprises fixed mount, governor motion, welding gun support, welding gun, stepper motor, power supply; Wherein,
Fixed mount is installed on electroplating equipment wielding machine, and governor motion and fixed mount lower end are affixed; Governor motion comprises three kinematic axiss, and wherein, one manually regulates transverse axis, manually regulates vertical pivot, a motorized adjustment transverse axis; The relative quadratures of two manual adjustments axles are installed, and are respectively equipped with handwheel at an end of two manual adjustments axles, and two manual adjustments axles are respectively applied for the height and the horizontal level of manual adjustment welding gun and camera; The mutual horizontal parallel setting of motorized adjustment transverse axis and manual adjustments transverse axis, an end of stepper motor output terminal and motorized adjustment transverse axis is affixed, and motorized adjustment transverse axis side direction sets firmly a lateral frame, lateral frame and motorized adjustment transverse axis associated movement;
The lateral frame downside is the parallel two stands that stretches out downwards, a welding gun support, an intelligent camera head bracket;
There is the welding gun folder welding gun support lower end, detachable affixed welding gun in the welding gun folder, and the welding gun upper end connects the welding gun pipeline, and the lower end connects welding wire; Intelligent camera head bracket lower end is connected with intelligent video camera head, and intelligent video camera head has lighting source, intelligent video camera head is positioned at the welding gun side, with the welding gun sustained height, aim at welding wire lower end zone;
The motorized adjustment transverse axis is used for the horizontal level that the weld joint tracking process is adjusted welding gun and camera automatically;
Stepper motor is electrically connected with stepper motor driver;
Intelligent video camera head, stepper motor driver, touch-screen are electrically connected with programmable controller respectively, and carry out both-way communication;
Power supply is to intelligent video camera head, touch-screen, programmable controller, stepper motor driver power supply.
Described device, its described lighting source is the camera lens ring-type light source on every side that is installed on intelligent video camera head.
Outstanding feature of the present invention is to adopt intelligent video camera head collection and processing welding lines image, provides position while welding; Adopt the programmable controller controls stepper motor to drive the welding gun lateral excursion; Adopt touch-screen to carry out parameter input and demonstration tracking error.Another outstanding feature of the present invention is to gather the natural image of weld seam, adopts the weld seam straight line as the feature calculation position while welding.
The present invention does not need to obtain weld seam horizontal section profile, can follow the tracks of the unconspicuous weld seam of horizontal section profile; The present invention adopts intelligent video camera head collection and processing welding lines image, does not need to adopt traditional computing machine, has reduced the control system volume, has improved reliability.
Experiment showed, that the present invention can realize thin plate is docked narrow weld joint tracking, can satisfy the thin plate butt joint needs of welding automatically.
Description of drawings:
Fig. 1 is the thin plate butt-weld autotracker structural representation based on intelligent video camera head of the present invention.
Fig. 2 is the thin plate butt-weld autotracker control system synoptic diagram based on intelligent video camera head of the present invention.
Embodiment:
Thin plate butt-weld autotracker based on intelligent video camera head of the present invention is configured to partly propping up by 3 regulating shafts, referring to accompanying drawing 1.Wherein, the 1st is manual adjustments transverse axis 9, has transverse axis handwheel 2, is used for the position of edge perpendicular to the horizontal direction manual adjustments welding gun 6 of weld seam, promptly regulates the position, the left and right sides of welding gun 6, makes welding wire 7 be on the weld seam.The 2nd is manual adjustments vertical pivot 8, has vertical pivot handwheel 1, is used for the position of edge perpendicular to the vertical direction manual adjustments welding gun 6 of weld seam, promptly regulates the height of welding gun 6.The 3rd is horizontal motorized adjustment transverse axis 10, has stepper motor 3, is used for promptly being used for soldering joint automatic tracking along the position of regulating welding gun 6 perpendicular to the horizontal direction of weld seam automatically.Manual adjustments vertical pivot 8 is installed on the slide block of manual adjustments transverse axis 9, and motorized adjustment transverse axis 10 is installed on the slide block of manual adjustments vertical pivot 8.Lateral frame 11 is housed on the slide block of motorized adjustment transverse axis 10, welding gun support 12 and camera support 13 are installed below.Along working direction 16, camera support 13 is in the place ahead of welding gun support 12.The tail end connecting rod of welding gun support 12 connects welding gun folder 5, is used for clamping welding gun 6.The lower end of welding gun 6 is a welding wire 7, and the upper end is a welding gun pipeline 4.On the terminal surface of camera support 13, intelligent video camera head 14 and lighting source 15 are installed.Wherein, lighting source 16 is installed on around the camera lens of intelligent video camera head 14, and the weldment in the area of visual field of intelligent video camera head 14 is thrown light on.Lateral frame 11, welding gun support 12, camera support 13, welding gun folder 5, welding gun 6, welding wire 7, welding gun pipeline 4, intelligent video camera head 14 and lighting source 15 are along with the slide block of motorized adjustment transverse axis 10 moves together.Has fixing position relation between welding gun 6 and the intelligent video camera head 14.
Weld tracker of the present invention is made of intelligent video camera head 14, touch-screen 18, programmable controller 19, stepper motor driver 20, stepper motor 3, Switching Power Supply 17 and above-mentioned tracking governor motion, referring to accompanying drawing 2.Wherein, intelligent video camera head 14 connects with programmable controller 19 by serial port, and touch-screen 18 connects with programmable controller 19 by another serial port.Touch-screen 18 is used to carry out the parameter input and shows tracking error.Two signals of programmable controller 19 outputs are respectively motion impulse signal and direction of motion signal to stepper motor driver 20.The driving output of stepper motor driver 20 utilizes lead to be directly connected to the input signal end of stepper motor 3.Switching Power Supply 17 is used for intelligent video camera head 14, touch-screen 18, programmable controller 19, stepper motor driver 20 power supplies.
The present invention adopts the image of 14 pairs of collections of intelligent video camera head to carry out filtering and weld seam extracts, and the output position while welding is to programmable controller 19.Programmable controller 19 is according to the current location and the desired locations of weld seam, rotating by stepper motor driver 20 control step motors 3, thereby drive welding gun 6 side-to-side movements, welding wire 7 is on the position while welding of expectation, thereby realize welding gun 6 accurate weld jobs along weld seam.
Embodiment
See also Fig. 1.In an embodiment, shown in accompanying drawing 1, made weld joint tracking mechanism.See also Fig. 2.The hardware control system of weld tracker is made of programmable controller 19, touch-screen 18, intelligent video camera head 14, stepper motor driver 20, stepper motor 3, Switching Power Supply 17.In an embodiment, wherein, programmable controller 19 is selected Japanese OMRON CP1H-X40DT-D for use, touch-screen 18 is selected the MPT5-MG00B touch-screen for use, intelligent video camera head 14 selects for use Germany to produce the VC4068 intelligent video camera head, stepper motor 3 is selected the 56BYG250D two-phase hybrid stepping motor of Hollysys for use, and stepper motor driver 20 is selected the two-phase hybrid stepping motor subdivision driver SH-20403 of Hollysys for use.Have the dual serial mouth on the programmable controller 19, a serial port is used for being connected with touch-screen 18, and another serial port is used for being connected with intelligent video camera head 14.The high-speed pulse output terminal and the direction of motion end of programmable controller 19 are connected to stepper motor driver 20.The driving output of stepper motor driver 20 utilizes lead to be directly connected to the input signal end of stepper motor 3.
The embodiment practical application proves that the invention process is convenient, can realize thin plate is docked narrow seam tracking, can satisfy the thin plate butt joint needs of welding automatically.
Claims (3)
1. the thin plate butt-weld automatic tracking method based on intelligent video camera head is characterized in that, comprises step:
A) install intelligent video camera head in the front of welding gun, intelligent video camera head is aimed at welding wire and thin plate butt-weld handing-over zone;
B) intelligent video camera head, touch-screen, stepper motor driver respectively with programmable controller between both-way communication be connected;
C) gather the natural image of weld seam with intelligent video camera head, and the processing welding lines image, provide position while welding, and data are issued programmable controller;
D) carry out the tracking error that weld seam was imported and shown to parameter by touch-screen;
E) use the data-driven stepper motor driver of programmable controller again according to intelligent video camera head, lateral frame on the control step driven by motor motorized adjustment transverse axis makes welding gun and welding wire move along the horizontal direction perpendicular to the thin plate butt-weld, to guarantee accuracy, the reliability of welding;
Described position while welding is to adopt the weld seam straight line as the feature calculation position while welding.
2. the device that the method for claim 1 is used comprises fixed mount, governor motion, welding gun support, welding gun, stepper motor, power supply; It is characterized in that,
Fixed mount is installed on electroplating equipment wielding machine, and governor motion and fixed mount lower end are affixed; Governor motion comprises three kinematic axiss, and wherein, one manually regulates transverse axis, manually regulates vertical pivot, a motorized adjustment transverse axis; The relative quadratures of two manual adjustments axles are installed, and are respectively equipped with handwheel at an end of two manual adjustments axles, and two manual adjustments axles are respectively applied for the height and the horizontal level of manual adjustment welding gun and camera; The mutual horizontal parallel setting of motorized adjustment transverse axis and manual adjustments transverse axis, an end of stepper motor output terminal and motorized adjustment transverse axis is affixed, and motorized adjustment transverse axis side direction sets firmly a lateral frame, lateral frame and motorized adjustment transverse axis associated movement;
The lateral frame downside is the parallel two stands that stretches out downwards, a welding gun support, an intelligent camera head bracket;
There is the welding gun folder welding gun support lower end, detachable affixed welding gun in the welding gun folder, and the welding gun upper end connects the welding gun pipeline, and the lower end connects welding wire; Intelligent camera head bracket lower end is connected with intelligent video camera head, and intelligent video camera head has lighting source, intelligent video camera head is positioned at the welding gun side, with the welding gun sustained height, aim at welding wire lower end zone;
The motorized adjustment transverse axis is used for the horizontal level that the weld joint tracking process is adjusted welding gun and camera automatically;
Stepper motor is electrically connected with stepper motor driver;
Intelligent video camera head, stepper motor driver, touch-screen are electrically connected with programmable controller respectively, and carry out both-way communication;
Power supply is to intelligent video camera head, touch-screen, programmable controller, stepper motor driver power supply.
3. device as claimed in claim 2 is characterized in that, described lighting source is the camera lens ring-type light source on every side that is installed on intelligent video camera head.
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| CN2008101187382A CN101655705B (en) | 2008-08-20 | 2008-08-20 | Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate |
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| CN2008101187382A CN101655705B (en) | 2008-08-20 | 2008-08-20 | Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate |
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| CN101870030A (en) * | 2010-06-29 | 2010-10-27 | 哈尔滨工业大学 | Device and method for detecting visual reverse molten pool images in aluminum alloy TIG welding with additional auxiliary light source |
| CN102179598B (en) * | 2011-03-31 | 2013-05-01 | 中国科学院自动化研究所 | Method and device for centering initial welding positions of flat narrow welding lines and tracking welding lines |
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| CN103878789A (en) * | 2014-04-10 | 2014-06-25 | 太仓斯普宁精密机械有限公司 | Image acquisition mechanism of precise welding robot |
| CN105479029B (en) * | 2015-12-30 | 2018-05-25 | 中北大学 | A kind of automatic Tracking monitoring system of straight welding machine |
| CN106996741A (en) * | 2017-03-24 | 2017-08-01 | 南通大学 | Three-dimensional postwelding weld stress processing system based on machine vision |
| CN107717184A (en) * | 2017-10-13 | 2018-02-23 | 中广核研究院有限公司 | A kind of Underwater Welding system test platform |
| CN109243284A (en) * | 2018-10-31 | 2019-01-18 | 西安长峰机电研究所 | A kind of aluminium alloy sheet welding weld seam teaching type autotracker |
| CN114451641B (en) * | 2022-01-05 | 2022-10-14 | 云码智能(海南)科技有限公司 | Intelligent bracelet, auxiliary welding device and method |
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