CN101770710A - Laser-vision sensing assisted remote teaching method for remote welding - Google Patents
Laser-vision sensing assisted remote teaching method for remote welding Download PDFInfo
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- CN101770710A CN101770710A CN200910217475A CN200910217475A CN101770710A CN 101770710 A CN101770710 A CN 101770710A CN 200910217475 A CN200910217475 A CN 200910217475A CN 200910217475 A CN200910217475 A CN 200910217475A CN 101770710 A CN101770710 A CN 101770710A
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Abstract
The invention discloses a laser-vision sensing assisted remote teaching method for remote welding, relating to a remote teaching method for remote welding. The purpose of the invention is to solve the problems of difficult-completed remote teaching of complex weld bead in remote welding and long time consumption of position and attitude adjustment of a welding gun in teaching. The method comprises the following steps: 1. initializing a system; 2. setting a weld joint type; 3. automatically obtaining weld bead feature points; 4. calculating to obtain weld bead teaching points Ti = Ps + Rr; 5. recording and forming a teaching point sequence; 6. judging whether the teaching points are enough; 7. downloading a remote teaching program; 8. and finishing teaching. The method is used for remote welding.
Description
Technical field
The present invention relates to a kind of remote control teaching method that is used for Remote Welding.
Background technology
In space exploration, underwater construction, the weld task under the extreme environments such as nuclear power station reparation, the operator can not face the scene by body, finishes weld job and must adopt remote control.Remote Welding refers to that the operator is not on-the-spot in welding, the long-range welding of adopting teleoperation robot welding system or automatic welding equipment to finish.It is the key operation mode of conventional machines people welding that teaching is reproduced, and same remote control teaching also is the gordian technique that realizes Remote Welding.In traditional teaching, if the teaching seam track is a space curve,, also need repeatedly to adjust the position and the attitude of welding gun, the teaching time even also longer than the time of welding only to the path meaning taught point of taking up an official post.Adopt when stereoscopic vision is auxiliary carries out the remote control teaching, the operator must remain in the bottom control ring, adjust the welding gun pose by stereo visual system is absorbed with hand controller, it is on-the-spot to observe welding by stereo-picture for a long time, the operator is tired easily, especially for the space curve weld seam, guarantee robot trajectory's kinematic accuracy by setting a large amount of taught points, need frequent adjustment posture of welding torch, and keep " operator-hand controller-Remote Camera-welding gun-robot body " position sense between mutually, otherwise maloperation or bump easily.Existing remote control teaching method is difficult to finish the remote control teaching of complicated weld seam.
Summary of the invention
The objective of the invention is to adjust long problem consuming time, proposed a kind of auxiliary remote control teaching method of laser-vision sensing that is used for Remote Welding for the position and the attitude that solve welding gun in the remote control teaching that is difficult to the complicated weld seam finished in the Remote Welding and the teaching.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: described method is realized by following steps:
Step 1: system initialization: the CSRC man-machine interface of at first selected local side logs on REMOTE MACHINE people controller as server as client, system initialization, comprise the initialization of space mouse, the communications parameter initialization, stereo visual system initialization and macroscopical vision system initialization are provided with system works in the remote control teach mode in the CSRC man-machine interface;
Step 2: the welding line joint type is set: the manual adjustments macroscopic view Zoom camera and the second controlled The Cloud Terrace change the visual field, observe the welding surroundings of far-end by macroscopical visual displays, manually control space mouse sends the increment size data to robot controller, the guiding welding gun is near workbench, by wearing liquid crystal shutter glasses, adjust the first controlled The Cloud Terrace and binocular ccd video camera and observe the weld job space, obtain having the visual information of meticulous depth perception, weld seam information according to observation is provided with the welding line joint type in the CSRC man-machine interface, and pass to the laser vision tracking control unit to call the image processing module in corresponding weld seam cad model storehouse by Industrial Ethernet, manually control space mouse sends the increment size data to robot controller, the guiding welding gun above weld seam one end near weld seam 20---30mm;
Step 3: obtain the weld bead feature points order: the laser-vision sensing controller is handled the image that reflexes on the CCD in the laser vision sensor working head, obtain the seam cross-section profile that highdensity point is described, calculate the position P of weld bead feature points under the laser vision sensor coordinate system
f(x z), realize extracting automatically the unique point of weld seam, and coding is passed to robot controller 8;
Step 4: calculate the weld seam taught point:, obtain the position P of weld bead feature points under world coordinate system according to the sensor matrices Ts of prior demarcation
f(x, y, z)=T
s* P
f(x z), sets arc length in the CSRC man-machine interface, calculate the taught point position P of weld seam
s(z), the attitude of adjusting welding gun is the teaching attitude, calculates attitude R for x, y
r(c), therefore, the pose of weld seam taught point is expressed as: T for a, b
i=P
s+ R
rThereby the taught point of weld seam is obtained in realization automatically;
Step 5: record forms teaching point sequence: the physical button of operator operating space mouse, setting speed, interpolation mode and striking order respectively, by the record key record on the mouse of space, after robot controller obtains writing down the order of this taught point, carry out inverse kinematics and calculate by T
iObtain the joint angle P of the robot under this teaching pose
i(θ
1, θ
2, θ
3, θ
4, θ
5, θ
6), and with P
iPass to the CSRC man-machine interface, write among the remote control teaching file teleteach.tcf;
Step 6: judge whether taught point is enough: robot controller judges whether taught point is enough, and repeating step three-step 5 in the time of can not meeting the demands meets the demands up to weld seam taught point number, obtains weld seam teaching point sequence P (P at last
1, P
2..., P
n) (1≤n is the taught point number);
Step 7: remote teaching program is downloaded: operation CSRC interface setting welding current, voltage parameter, store among the teleteach.tcf, and this file downloaded in the robot controller, if carry out the physical button of " RUN " order of space mouse, and by the CSRC interface startup source of welding current, robot controller is then carried out this tutorial program and is finished welding;
Step 8: teaching finishes.
The present invention has following beneficial effect: 1. the auxiliary remote control teaching method of laser-vision sensing of the present invention can effectively remedy the error that mechanical reason causes, the weld seam of quick teaching various ways, the realization Remote Welding that can use fully; 2. what the present invention adopted is the characteristic point information that laser vision sensor extracts weld seam automatically, obtain taught point through routine processes, adjusting position and this operating process of attitude of welding gun finishes automatically, greatly reduce the teaching difficulty, alleviated operator's working strength, improve the efficient and the precision of Remote Welding teaching, saved a large amount of teaching time; 3. the laser vision sensor among the present invention only is used for feature point extraction, is not used in weld joint tracking, and the cost of laser vision sensor is low, is easy to promote; 4. the present invention has the advantages that versatility is good, dirigibility is high and practical, can adapt to the remote control teaching under multiple weld groove types such as V-type, overlap joint, butt joint, corner connection and the various environment.
Description of drawings
The Remote Welding device synoptic diagram that Fig. 1 uses for the present invention; Fig. 2 is the program flow diagram of the auxiliary remote control teaching of visual sensing of the present invention; Fig. 3 is the laser-vision sensing shop drawing; Fig. 4 is the principle of triangulation figure of laser-vision sensing; Fig. 5 is the cylinder of diameter 200mm for the workpiece of remote control teaching, and weld seam is the helix weld seam of double V-groove, and the angle that helix is walked around is 180 degree, obtains the conditional curve figure of the auxiliary remote control teaching of laser-vision sensing; Fig. 6 is that the workpiece of two 300 * 80mm is that the steel plate of 3mm docks with thickness respectively, weld seam is the plane sinusoidal curve weld seam of butt joint groove, adopt the teaching time comparison diagram of existing remote control teach mode and remote control teach mode of the present invention, wherein A is the teaching time of existing remote control teach mode, and B is the teaching time of remote control teach mode of the present invention.
Embodiment
Embodiment one: in conjunction with Fig. 1 and Fig. 2 present embodiment is described, the method for present embodiment is realized by following steps:
Step 1: system initialization: the CSRC man-machine interface 2 of at first selected local side logs on REMOTE MACHINE people controller 8 as server as client, system initialization, comprise the initialization of space mouse 4, the communications parameter initialization, stereo visual system initialization and macroscopical vision system initialization are provided with system works in the remote control teach mode in CSRC man-machine interface 2;
Step 2: the welding line joint type is set: the manual adjustments macroscopic view Zoom camera 16 and the second controlled The Cloud Terrace 15 change the visual field, observe the welding surroundings of far-end by macroscopical visual displays 1, manually control space mouse 4 sends the increment size data to robot controller 8, guiding welding gun 17 is near the workbench 11, by wearing liquid crystal shutter glasses 5, adjust the first controlled The Cloud Terrace 12 and binocular ccd video camera 13 and observe the weld job space, obtain having the visual information of meticulous depth perception, weld seam information according to observation is provided with the welding line joint type in CSRC man-machine interface 2, and pass to laser vision tracking control unit 8 to call the image processing module in corresponding weld seam cad model storehouse by Industrial Ethernet 7, manually control space mouse 4 sends the increment size data to robot controller 8, and guiding welding gun 17 arrives weld seam one end top near weld seam 20---30mm;
Step 3: obtain the weld bead feature points order: the image on 9 couples of CCD that reflex in the laser vision sensor working head 18 of laser-vision sensing controller is handled, obtain the seam cross-section profile that highdensity point is described, calculate the position P of weld bead feature points under the laser vision sensor coordinate system
f(x z), realize extracting automatically the unique point of weld seam, and coding is passed to robot controller 8;
Step 4: calculate the weld seam taught point: according to the sensor matrices T of prior demarcation
s, obtain the position P of weld bead feature points under world coordinate system
f(x, y, z)=T
s* P
f(x z), sets arc length in CSRC man-machine interface 2, calculate the taught point position P of weld seam
s(z), the attitude of adjusting welding gun 17 is the teaching attitude, calculates attitude R for x, y
r(c), therefore, the pose of weld seam taught point is expressed as: T for a, b
i=P
s+ R
rThereby the taught point of weld seam is obtained in realization automatically;
Step 5: record forms teaching point sequence: the physical button of operator's 3 operating space mouses 4, setting speed, interpolation mode and striking order respectively, by the record key record on the space mouse 4, after robot controller 8 obtains writing down the order of this taught point, carry out inverse kinematics and calculate by T
iObtain the joint angle P of the robot 10 under this teaching pose
i(θ
1, θ
2, θ
3, θ
4, θ
5, θ
6), and with P
iPass to CSRC man-machine interface 2, write among the remote control teaching file teleteach.tcf;
Step 6: judge whether taught point is enough: robot controller 8 judges whether taught point is enough, and repeating step three-step 5 in the time of can not meeting the demands meets the demands up to weld seam taught point number, obtains weld seam teaching point sequence P (P at last
1, P
2..., P
n) (1≤n is the taught point number);
Step 7: remote teaching program is downloaded: welding current, voltage parameter are set in operation CSRC interface 2, store among the teleteach.tcf, and this file downloaded in the robot controller 8, if carry out the physical button of " RUN " order of space mouse 4, and by the CSRC interface 2 startup sources of welding current 19,8 of robot controllers are carried out this tutorial program and are finished welding;
Step 8: teaching finishes.
Wherein stereo visual system described in the step 1 is made of stereoscopic vision display 6 and binocular ccd video camera 13, and described macroscopical vision system is made of laser-vision sensing controller 9 and laser vision sensor working head 18.
Embodiment two: in conjunction with Fig. 1 present embodiment is described, robot 10 has six-freedom degree described in the step 3 of present embodiment and the step 5.Other composition and step are identical with embodiment one.
Embodiment three: in conjunction with Fig. 1, Fig. 3 and Fig. 4 illustrate present embodiment, automatically the unique point of extracting weld seam in the step 3 of present embodiment obtains as follows: welding gun 17 is fixed on the 6th joint of robot 10, laser vision sensor working head 18 is affixed with welding gun 17, and demarcate in advance, the mounting distance that laser vision sensor working head 18 and welding gun are 17 is 25mm, workpiece 14 is positioned on the workbench 11, when 18 work of laser vision sensor working head, generating laser 20 emitted laser points in the laser vision sensor working head 18 are converted to the laser rays striped by the prism in the laser vision sensor working head 18 21, through workpiece 14 reflections, get on the CCD 23 in the laser vision sensor working head 18 by the filter in the laser vision sensor working head 18 22, according to principle of triangulation, laser beam from send some the distance workpiece 14 surfaces with the picture point of 23 one-tenth of the CCD of laser vision sensor working head 18 to CCD 23 central points of laser vision sensor working head 18 apart from the approximately linear funtcional relationship.Other composition and step are identical with embodiment one.
Claims (3)
1. a laser-vision sensing that is used for Remote Welding is assisted the remote control teaching method, it is characterized in that described method is realized by following steps:
Step 1: system initialization: the CSRC man-machine interface (2) of at first selected local side logs on REMOTE MACHINE people controller (8) as server as client, system initialization, comprise the initialization of space mouse (4), the communications parameter initialization, stereo visual system initialization and macroscopical vision system initialization are provided with system works in the remote control teach mode in CSRC man-machine interface (2);
Step 2: the welding line joint type is set: the manual adjustments macroscopic view Zoom camera (16) and the second controlled The Cloud Terrace (15) change the visual field, observe the welding surroundings of far-end by macroscopical visual displays (1), manually control space mouse (4) sends the increment size data to robot controller (8), guiding welding gun (17) is near the workbench (11), by wearing liquid crystal shutter glasses (5), adjust the first controlled The Cloud Terrace (12) and binocular ccd video camera (13) and observe the weld job space, obtain having the visual information of meticulous depth perception, weld seam information according to observation is provided with the welding line joint type in CSRC man-machine interface (2), and pass to laser vision tracking control unit (8) to call the image processing module in corresponding weld seam cad model storehouse by Industrial Ethernet (7), manually control space mouse (4) sends the increment size data to robot controller (8), and guiding welding gun 17 arrives weld seam one end top near weld seam 20-30mm;
Step 3: obtain the weld bead feature points order: laser-vision sensing controller (9) is handled the image that reflexes on the CCD in the laser vision sensor working head (18), obtain the seam cross-section profile that highdensity point is described, calculate the position P of weld bead feature points under the laser vision sensor coordinate system
f(x z), realize extracting automatically the unique point of weld seam, and coding is passed to robot controller (8);
Step 4: calculate the weld seam taught point: according to the sensor matrices T of prior demarcation
s, obtain the position P of weld bead feature points under world coordinate system
f(x, y, z)=T
s* P
f(x z), sets arc length in CSRC man-machine interface (2), calculate the taught point position P of weld seam
s(z), the attitude of adjusting welding gun 17 is the teaching attitude, calculates attitude R for x, y
r(c), therefore, the pose of weld seam taught point is expressed as: T for a, b
i=P
s+ R
r
Step 5: record forms teaching point sequence: the physical button of operator (3) operating space mouse (4), setting speed, interpolation mode and striking order respectively, by the record key record on the space mouse (4), after robot controller (8) obtains writing down the order of this taught point, carry out inverse kinematics and calculate by T
iObtain the joint angle P of the robot (10) under this teaching pose
i(θ
1, θ
2, θ
3, θ
4, θ
5, θ
6), and with P
iPass to CSRC man-machine interface (2), write among the remote control teaching file teleteach.tcf, thereby the taught point of weld seam is obtained in realization automatically;
Step 6: judge whether taught point is enough: robot controller (8) judges whether taught point is enough, and repeating step three-step 5 in the time of can not meeting the demands meets the demands up to weld seam taught point number, obtains weld seam teaching point sequence P (P at last
1, P
2..., P
n) (1≤n is the taught point number);
Step 7: remote teaching program is downloaded: welding current, voltage parameter are set in operation CSRC interface 2, store among the teleteach.tcf, and this file downloaded in the robot controller (8), if carry out the physical button of " RUN " order of space mouse 4, and by CSRC interface (2) the startup source of welding current (19), robot controller (8) is then carried out this tutorial program and is finished welding;
Step 8: teaching finishes.
2. according to the described auxiliary remote control teaching method of laser-vision sensing that is used for Remote Welding of claim 1, it is characterized in that robot described in step 3 and the step 5 (10) has six-freedom degree.
3. according to the described auxiliary remote control teaching method of laser-vision sensing that is used for Remote Welding of claim 1, it is characterized in that the unique point of extracting weld seam in the step 3 automatically obtains as follows: welding gun (17) is fixed on the 6th joint of robot (10), laser vision sensor working head (18) is affixed with welding gun (17), and demarcate in advance, mounting distance between laser vision sensor working head (18) and welding gun (17) is 25mm, workpiece (14) is positioned on the workbench (11), when laser vision sensor working head (18) is worked, generating laser (20) emitted laser point in the laser vision sensor working head (18) is converted to the laser rays striped by the prism (21) in the laser vision sensor working head (18), reflect through workpiece (14), get on the CCD (23) in the laser vision sensor working head (18) by the filter (22) in the laser vision sensor working head (18), according to principle of triangulation, laser beam from the picture point sending some the distance workpiece (14) surface and become with CCD (23) in laser vision sensor working head (18) to CCD (23) central point of laser vision sensor working head (18) apart from the approximately linear funtcional relationship.
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