CN104942404A - Dual-wavelength binocular vision seam tracking method and tracking system - Google Patents
Dual-wavelength binocular vision seam tracking method and tracking system Download PDFInfo
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- CN104942404A CN104942404A CN201510412801.3A CN201510412801A CN104942404A CN 104942404 A CN104942404 A CN 104942404A CN 201510412801 A CN201510412801 A CN 201510412801A CN 104942404 A CN104942404 A CN 104942404A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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Abstract
The invention discloses a dual-wavelength binocular vision seam tracking method. The method comprises the steps including image acquisition, data processing, seam tracking and the like. The invention further discloses a tracking system for implementing the method. The system adopts a near-infrared and structured light dual-wavelength binocular vision sensing system, images of a molten pool and different wavelengths of seam area images with of seams are measured simultaneously and transmitted to a miniature industrial control computer, and the seam positions are measured accurately with a multi-information fusion algorithm and a seam image three-dimensional reconstruction algorithm; the miniature industrial control computer adopts the Kalman filter algorithm to perform optimal estimation on the seam tracking deviation state according to a seam position detection result, a servo driver drives a servo motor to move so as to control a 3-axis motion workbench to generate corresponding motion, a welding torch or a laser head is controlled for deviation correction, and the seams are tracked accurately. The system can eliminate hard light, splashing and electromagnetic interference on a welding site and improve the seam tracking accuracy and reliability.
Description
Technical field
The invention belongs to welding technology field, be specifically related to a kind of dual wavelength binocular vision welding seam tracking method and tracking system.
Background technology
Welding is the important process technology of manufacture field, has that condition of work is severe, workload is large and the various features such as quality requirement is high.Arc welding and Laser Welding are welding techniques comparatively conventional in welding industry, realize the important means that welding autocontrol is Automation of Welding using electric arc and laser beam as controlled device.Wherein, accurate weld joint tracking ensures the prerequisite of welding quality, namely must control in whole welding process laser beam or electric arc make its all the time with weld seam centering, otherwise will waste product be caused.For this reason, the position accurately automatically detecting weld seam is needed also to realize from motion tracking.
Because welding is a complicated heat processing technique technology, workpiece will produce thermal deformation in welding process, and in welding process, there will be the interference such as strong radiation, arc light, flue dust, splashing, make the accurate detection realizing position while welding in welding process quite difficult.Meanwhile, the weld seam path that the factors such as welder mechanism error, Fixture assembly error and the thermal deformation of welding process weldment cause is actually three-dimensional curve weld seam, relates to comparatively complicated three-dimensional curve tracking problem.And weld gap is little and do not have groove, coordinate not at same plane, automatically to identify and to measure difficulty very big.
The domestic and international acquisition for welding seam position information at present mainly concentrates on following several method: (1) structured light visual sensing method.Structured light visual sensing method is scanned by the three-dimensional curve weld seam of lasing light emitter emitting structural light to front end, molten bath, because the steel plate on weld seam and its both sides generally has difference in height, can form weld profile line under the irradiation of structured light, present the three-dimensional information of weld seam.The operation principle great majority of the Weld joint tracker of current industrial application are structured light visual sensing methods.But the method has it to be difficult to the defect overcome: for uniform thickness butt plates welding, generally effectively detector gap the weld seam of 0.15mm can only be greater than.Gap is less than to the weld seam of 0.15mm, usually needs before welding to open micro-groove in butt weld surface, be out of shape herein to make structured light.But this adds processing cost undoubtedly, reduces welding production efficiency.And for the weld seam of closed butt joint, square groove, structured light produces distortion hardly, so traditional Single wavelength structural light measurement method is difficult to identify and measure this kind of weld seam exactly.Add strong arc light and radiation interference, more easily make weld seam detection occur erroneous judgement.(2) infrared sensing method.The method is used for the weld seam recognition of arc welding or weldment back side sensing Laser Welding, welding pool and surrounding form certain temperature field and adjoint infra-red radiation, use thermal camera directly to take molten bath and obtain infrared thermal imagery, quantitative analysis is carried out to the arc-welding district infrared thermal imagery collected, the quantitative information that electric arc departs from weld seam can be obtained.Because violent molten bath and variations in temperature make to be difficult to obtain well-bedded infrared image, add infrared sensor and be subject to environmental disturbances, there is the problems such as precision is not high in this way.(3) through image method for sensing.The method utilizes video camera directly to take molten bath, by image processing and analyzing intensity profile, infers Weld pipe mill deviation information.Because the method directly obtains crater image, eliminate leading error to a great extent.But because the change violent and weld seam at molten bath place in molten bath melts, weld information is fallen into oblivion substantially, is therefore difficult to the characteristic sum rule fundamentally obtaining weld seam deviation.(4) other method.As utilized differential transformer as the sensor detecting vertical and horizontal direction deviation; According to weld gap, influential phenomenon is propagated to acoustic emission wave, utilize the weld inspection system of sound emission-Microprocessor S3C44B0X; Using electric arc sensor realizes detecting with the V-shaped weld of groove; Utilize current vortex method to detect weld seam, but accurately can not judge weld seam left-right deviation position; Supersonic sensing method needs the close contact of ultrasound transducer and welded sheet material, significantly limit ultrasonic sensor and is detecting the application in weld seam.Above method has limitation when detecting small―gap suture weld seam.
Summary of the invention
Main purpose of the present invention is the deficiency overcoming above-mentioned existing welding seam tracking method, provide a kind of accuracy of detection high, reliable, be simple and easy to, there is the dual wavelength visual sensing of certain versatility and the seam tracking system of three axle servo-drive.
For achieving the above object, the invention provides a kind of dual wavelength binocular vision welding seam tracking method, the method comprises the steps:
A. IMAQ: miniature Industrial Control Computer sends instruction makes structured light laser instrument launch the structured light being across weld seam; send instruction simultaneously and start near-infrared video camera, structured light camera operation; in welding process, synchronous coordination near-infrared video camera and structured light video camera gather the structure light image of molten bath zone infrared image and front end, molten bath weld seam respectively by image pick-up card, and are transferred in miniature Industrial Control Computer by the double-wavelength images of acquisition;
B. data processing: the structure light image of application Multi-information acquisition algorithm to molten bath zone infrared image and front end, molten bath weld seam processes, calculates position while welding and tracking correction amount accurately;
C. weld joint tracking: application card Kalman Filtering butt welded seam tracing deviation state carries out optimal estimation, find the relation between filtering evaluated error and measure error, moved by servo driver drives servomotor thus control three-axis moving workbench and produce corresponding motion, realize the accurate tracking of weld seam.
In such scheme, the near-infrared wavelength scope of described near-infrared video camera picked-up is 960-990nm; The visual structure optical wavelength range of described structured light video camera picked-up is 640-660nm.
For realizing the method, the invention also discloses a kind of dual wavelength binocular vision seam tracking system, this system comprises dual wavelength binocular vision detection system, three axle servo-drive seam tracking systems and miniature Industrial Control Computer, this dual wavelength binocular vision detection system comprises near-infrared video camera, structured light video camera, structured light laser instrument and sensor installing plate, described structured light video camera is arranged on the left front end of sensor installing plate, described near-infrared video camera is arranged on sensor installing plate right front ends, described structured light laser instrument is positioned in the middle of structured light video camera and near-infrared video camera, be arranged on sensor installing plate middle-end, described three axle servo-drive seam tracking systems comprise X-axis fixed mount, Y-axis fixed mount and Z axis fixed mount, described X-axis fixed mount upper surface is provided with welding bench, weldment is placed on described welding bench, X-axis servomotor is arranged on the right-hand member of described X-axis fixed mount, the lower front end of described Z axis fixed mount is connected with the middle rear end of X-axis fixed mount, Z axis servomotor is arranged on the top of described Z axis fixed mount, described Y-axis fixed mount is bolted on the right side of Z axis fixed mount, Y-axis servomotor is arranged on the rear end of described Y-axis fixed mount, sensor installing plate is arranged on the front end of Y-axis fixed mount, the described sensor installing plate back side is provided with reinforcement, welding torch or laser head installing plate are arranged on the right front ends of Y-axis fixed mount by hexagon socket head cap screw, welding torch or laser head are arranged on immediately below described welding torch or laser head installing plate.
In such scheme, described Z axis fixed mount right lateral surface has elongated hole, Z axis driven by servomotor Y-axis fixed mount moves up and down in described elongated hole, the adjustment of defocusing amount when can be regulated height or the laser weld of welding torch distance weldment by the upper-lower position controlling Y-axis fixed mount.
In such scheme, described Y-axis fixed mount left-hand face has elongated hole, and Y-axis driven by servomotor Y-axis fixed mount seesaws in described elongated hole, can realize correction by the front and back position controlling Y-axis fixed mount to welding torch or laser head.
In such scheme, described X-axis driven by servomotor is placed in the weldment side-to-side movement on welding bench, realizes the feeding of weldment.
In such scheme, application near infrared light (960-990nm) and visual structure light (640-660nm) obtain Molten Pool Shape and front end, molten bath weld information respectively, and realize recognition of welding seam position by dual wavelength binocular vision sensor information fusion technology.On the basis that position while welding is measured, set up welding torch or laser head servo control system, according to position while welding coordinate, control welding torch or laser head position and application card Kalman Filtering by servo drive system to control to make it align all the time and follow the tracks of weld seam, realize the weld joint tracking of arc welding or Laser Welding.
In such scheme, with docking, overlap joint, angle welding etc. for application, utilize the calibration of dual wavelength binocular vision sensor, biobelt filter properties, weld image strengthen, Molten Pool Shape Feature Extraction Technology, under severe industrial welding scene, accurately detect position while welding.When carry out overlap welding, fillet welding and comparatively wide arc gap butt plates welding time, be mainly transmitted into the visible deformation structured light of weld seam according to structured light laser instrument and detect position while welding by structured light video camera.When carrying out closed butt joint weldering, structured light not redeformation, now main according to the heat distribution feature acquisition position while welding in the near-infrared crater image of near-infrared video camera picked-up.By merging structure light welding seam image and the near-infrared crater image of different-waveband, realize measurement and the tracking of position while welding.
In such scheme, for the welded seam area under the molten bath zone under near infrared radiation and visual structure light radiation, utilize the feature of double-wavelength images, strengthen anti-arc light interference performance.Miniature Industrial Control Computer calculates binocular vision sensor surving coordinate, carries out weld image three-dimensional reconstruction, sets up position while welding measuring system.
In such scheme, set up welding torch or laser head three-axis moving and Weld Seam Tracking Control system, application card Kalman Filtering carries out state optimization estimation on this basis, Accurate Prediction weld excursion amount and offset direction, eliminates the random disturbances impact of process noise and measurement noises.According to information such as the side-play amount between weld seam and electric arc or laser head, offset direction and migration velocities, Accurate Prediction weld seam state also forms Weld joint tracker.
Compared with existing welding seam tracking method, the technical solution used in the present invention has following beneficial effect:
1) adopt near-infrared and structured light dual wavelength binocular vision method for sensing, obtain the welded seam area image of molten bath and weld seam different wave length, Measurement accuracy weld seam three-dimensional coordinate simultaneously.The method can overcome the strong arc light of welding scene, radiation, splashing and electromagnetic interference, improves fault-tolerance and the reliability of system;
2) vision tracker and servo-driver is merged, set up welding torch or laser head three-axis moving and Weld Seam Tracking Control model, application Kalman filtering algorithm, eliminate weld image noise to the impact of certainty of measurement, the departure between butt welded seam and welding torch or laser head, offset direction and migration velocity carry out state optimization estimation.For arc welding, the prediction correction realizing the welding torch determining arc position controls.For laser weld, the prediction correction realizing the laser head determining laser beam position controls.
Accompanying drawing explanation
Fig. 1 is stereochemical structure front view of the present invention.
Fig. 2 is stereochemical structure rearview of the present invention.
Fig. 3 is operating diagram of the present invention.
In figure: 1-Z axis servomotor, 2-Z axis fixed mount, 3-sensor installing plate, 4-structured light video camera, 5-structured light laser instrument, 6-weldment, 7-X-axis fixed mount, 8-Y-axis servomotor, 9-Y-axis fixed mount, 10-welding torch or laser head installing plate, 11-near-infrared video camera, 12-welding torch or laser head, 13-X-axis servomotor, 14-weld seam, 15-welding bench, 16-reinforcement.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.This area ordinary person, not making the every other embodiment obtained under creative work prerequisite, all belongs to protection scope of the present invention.
Embodiment 1: dual wavelength binocular vision welding seam tracking method.
With reference to shown in Fig. 3, Fig. 3 is the operating diagram of dual wavelength binocular vision welding seam tracking method of the present invention.The method comprises the steps:
A. IMAQ: miniature Industrial Control Computer sends instruction makes structured light laser instrument launch the structured light being across weld seam; send instruction simultaneously and start near-infrared video camera, structured light camera operation; in welding process, synchronous coordination near-infrared video camera and structured light video camera gather the structure light image of molten bath zone infrared image and front end, molten bath weld seam respectively by image pick-up card, and are transferred in miniature Industrial Control Computer by the double-wavelength images of acquisition;
B. data processing: the structure light image of application Multi-information acquisition algorithm to molten bath zone infrared image and front end, molten bath weld seam processes, calculates position while welding and tracking correction amount accurately;
C. weld joint tracking: application card Kalman Filtering butt welded seam tracing deviation state carries out optimal estimation, find the relation between filtering evaluated error and measure error, moved by servo driver drives servomotor thus control three-axis moving workbench and produce corresponding motion, realize the accurate tracking of weld seam.
In such scheme, the present invention with docking, overlap joint, angle welding etc. for application, by technology such as the calibration of dual wavelength binocular vision sensor, the analysis of biobelt filter properties, weld image enhancing, Molten Pool Shape feature extraction, Multi-information acquisition and Kalman filterings, under severe industrial welding scene, accurately detect position while welding and realize weld joint tracking.
In such scheme, the present invention is directed to the molten bath zone under near infrared radiation and the welded seam area under visual structure light radiation, measure the welded seam area image of molten bath and weld seam different wave length simultaneously, extract the feature of double-wavelength images, merge the characteristic information obtained, accurately calculate weld seam three-dimensional coordinate.Miniature Industrial Control Computer calculates binocular vision sensor surving coordinate, carries out weld image three-dimensional reconstruction, sets up position while welding measuring system.Application Kalman filtering algorithm, eliminates weld image noise to the impact of certainty of measurement, and the departure between butt welded seam and electric arc or laser beam, offset direction and migration velocity carry out state optimization estimation, and the prediction correction realizing welding torch or laser head position controls.
In such scheme, the near-infrared wavelength scope of described near-infrared video camera picked-up is 960-990nm; The visual structure optical wavelength range of described structured light video camera picked-up is 640-660nm.
Embodiment 2: dual wavelength binocular vision seam tracking system.
Shown in seeing figures.1.and.2, a kind of dual wavelength binocular vision seam tracking system, comprise dual wavelength binocular vision detection system, three axle servo-drive seam tracking systems and miniature Industrial Control Computer, this dual wavelength binocular vision detection system comprises near-infrared video camera 11, structured light video camera 4, structured light laser instrument 5 and sensor installing plate 3, described structured light video camera 4 is arranged on the left front end of sensor installing plate 3, described near-infrared video camera 11 is arranged on sensor installing plate 3 right front ends, described structured light laser instrument 5 is positioned in the middle of structured light video camera 4 and near-infrared video camera 11, be arranged on sensor installing plate 3 middle-end, described three axle servo-drive seam tracking systems comprise X-axis fixed mount 7, Y-axis fixed mount 9 and Z axis fixed mount 2, described X-axis fixed mount 7 upper surface is provided with welding bench 15, weldment 6 is placed on described welding bench 15, X-axis servomotor 13 is arranged on the right-hand member of described X-axis fixed mount 7, the lower front end of described Z axis fixed mount 2 is connected with the middle rear end of X-axis fixed mount 7, Z axis servomotor 1 is arranged on the top of described Z axis fixed mount 2, described Y-axis fixed mount 9 is bolted on the right side of Z axis fixed mount 2, Y-axis servomotor 8 is arranged on the rear end of described Y-axis fixed mount 9, sensor installing plate 3 is arranged on the front end of Y-axis fixed mount 9, described sensor installing plate 3 back side is provided with reinforcement 16, welding torch or laser head installing plate 10 are arranged on the right front ends of Y-axis fixed mount 9 by hexagon socket head cap screw, welding torch or laser head 12 are arranged on immediately below described welding torch or laser head installing plate 10.
In such scheme, described Z axis fixed mount 2 right lateral surface has elongated hole, Z axis servomotor 1 drives Y-axis fixed mount 9 to move up and down in described elongated hole, the adjustment of defocusing amount when can be regulated height or the laser weld of welding torch distance weldment 6 by the upper-lower position controlling Y-axis fixed mount 9.
In such scheme, described Y-axis fixed mount 9 left-hand face has elongated hole, and Y-axis servomotor 8 drives Y-axis fixed mount 9 to seesaw in described elongated hole, can realize correction by the front and back position controlling Y-axis fixed mount 9 to welding torch or laser head 12.
In such scheme, described X-axis servomotor 1 drives weldment 6 side-to-side movement be placed on welding bench 15, realizes the feeding of weldment 6.
In such scheme, three-shaft linkage servo motion platform comprises X-axis fixed mount 7, X-axis workbench 15, Y-axis fixed mount 9, Z axis fixed mount 2, X-axis servomotor 13, Y-axis servomotor 8 and Z axis servomotor 1; Dual wavelength binocular vision sensing device comprises sensor installing plate 3 and the structured light video camera 4 be mounted thereon, structured light laser instrument 5 and near-infrared video camera 11, structured light video camera 4 is for obtaining the image of the structured light across weld seam, and near-infrared video camera 11 is for obtaining the weld pool dynamics image of welding process.Sensor installing plate 3 and Y-axis fixed mount 9 and welding torch or the fixing and linkage of laser head installing plate 10.Reinforcement 16 is connected with the rigidity of assurance device between sensor installing plate 3 and Y-axis fixed mount 9.Welding torch or laser head installing plate 10 are installed on Y-axis fixed mount 9 by hexagon socket head cap screw, the welding torch that can freely change or laser head 12 are installed on welding torch or laser head installing plate 10 by hexagon socket head cap screw, according to the characteristic such as material, thickness of welding, welding torch or laser head 12 can select laser welding system or welding torch.What install successively from the near to the remote according to the horizontal range with welding torch or laser head 12 is near-infrared video camera 11, structured light laser instrument 5 and structured light video camera 4, during installation near-infrared video camera 11 axis in vertical direction with an angle so that molten bath zone image can be obtained.In like manner, structured light video camera 4 and structured light laser instrument 5 are also installed to be its axis in vertical direction with an angle obtaining structure light image, and structure light image relative molten bath zone image has a leading amount in welding direction.
In such scheme, the operation principle of system is as follows: near-infrared video camera 11, structured light video camera 4, structured light laser instrument 5, welding torch or laser head 12 are connected with miniature Industrial Control Computer respectively with servo-driver.X-axis fixed mount 7 for welding feeding, Y-axis fixed mount 9 for the correction of welding torch or laser head 12, the adjustment of defocusing amount when Z axis fixed mount 2 is for regulating height or the laser weld of welding torch distance weldment 6.When using the present invention to carry out weld joint tracking, be positioned over by weldment 6 on welding bench 15, miniature Industrial Control Computer is coordinated to start near-infrared video camera 11, structured light video camera 4, structured light laser instrument 5, welding torch or laser head 12 and servo-driver work simultaneously.Utilize two waveband filter system, filtering veiling glare, gather near infrared light and structured light and ambient area information.Miniature Industrial Control Computer butt welded seam and crater image carry out dynamic range adjustment, and application image three-dimensional rebuilding method sets up position while welding measurement equation.According to position while welding metrical information, merge three axle Servo Drive Technology's, set up welding torch or laser head Motion Controlling Model.By the integration technology of weld seam visual information and welding torch or laser head linkage control system, realize the tracing control of weld seam.Set up the Weld Seam Tracking Control system with visual sensing and the displacement integration of welding torch space, adopt near infrared light and structured light dual wavelength binocular vision sensor to obtain molten bath and weld image, welding torch or laser head adopt the method for three axles (X, Y, Z) displacement control.Miniature Industrial Control Computer application card Kalman Filtering butt welded seam deviation carries out optimal estimation, is the timely FEEDBACK CONTROL parameter of correction campaign of welding torch or laser head 12, realizes the prediction correction that welding torch or laser head 12 move and controls.This system can overcome the high light of welding scene, radiation, splashing and electromagnetic interference, improves fault-tolerance and the reliability of system.
The above is preferred embodiment of the present invention, but the present invention should not be limited to the content disclosed in this embodiment and accompanying drawing, and the equivalence completed under not departing from spirit disclosed in this invention so every or amendment, all fall into the scope of protection of the invention.
Claims (8)
1. a dual wavelength binocular vision welding seam tracking method, is characterized in that, the method comprises the steps:
A) IMAQ: miniature Industrial Control Computer sends instruction makes structured light laser instrument (5) launch the structured light being across weld seam, send instruction simultaneously and start near-infrared video camera (11), structured light video camera (4) work, in welding process, synchronous coordination near-infrared video camera (11) and structured light video camera (4) gather the structure light image of molten bath zone infrared image and front end, molten bath weld seam respectively by image pick-up card, and are transferred in miniature Industrial Control Computer by the double-wavelength images of acquisition;
B) data processing: the structure light image of application Multi-information acquisition algorithm to molten bath zone infrared image and front end, molten bath weld seam processes, calculates position while welding and tracking correction amount accurately;
C) weld joint tracking: application card Kalman Filtering butt welded seam tracing deviation state carries out optimal estimation, find the relation between filtering evaluated error and measure error, moved by servo driver drives servomotor thus control three-axis moving workbench and produce corresponding motion, realize the accurate tracking of weld seam.
2. dual wavelength binocular vision welding seam tracking method according to claim 1, is characterized in that: the near-infrared wavelength scope that described near-infrared video camera (11) is absorbed is 960-990nm; The visual structure optical wavelength range that described structured light video camera (4) is absorbed is 640-660nm.
3. a dual wavelength binocular vision seam tracking system, comprise dual wavelength binocular vision detection system, three axle servo-drive seam tracking systems and miniature Industrial Control Computer, it is characterized in that: described dual wavelength binocular vision detection system comprises near-infrared video camera (11), structured light video camera (4), structured light laser instrument (5) and sensor installing plate (3), described structured light video camera (4) is arranged on sensor installing plate (3) left front end, described near-infrared video camera (11) is arranged on sensor installing plate (3) right front ends, described structured light laser instrument (5) is positioned in the middle of structured light video camera (4) and near-infrared video camera (11), be arranged on sensor installing plate (3) middle-end, described three axle servo-drive seam tracking systems comprise X-axis fixed mount (7), Y-axis fixed mount (9) and Z axis fixed mount (2), described X-axis fixed mount (7) upper surface is provided with welding bench (15), weldment (6) is placed on described welding bench (15), X-axis servomotor (13) is arranged on the right-hand member of described X-axis fixed mount (7), the lower front end of described Z axis fixed mount (2) is connected with the middle rear end of X-axis fixed mount (7), Z axis servomotor (1) is arranged on the top of described Z axis fixed mount (2), described Y-axis fixed mount (9) is connected to Z axis fixed mount (2) right side, Y-axis servomotor (8) is arranged on the rear end of described Y-axis fixed mount (9), sensor installing plate (3) is arranged on the front end of Y-axis fixed mount (9), described sensor installing plate (3) back side is provided with reinforcement (16), welding torch or laser head installing plate (10) are arranged on the right front ends of Y-axis fixed mount (9), welding torch or laser head (12) are arranged on immediately below described welding torch or laser head installing plate (10).
4. dual wavelength binocular vision seam tracking system according to claim 3, is characterized in that: described Z axis fixed mount (2) right lateral surface has elongated hole, and Z axis servomotor (1) drives Y-axis fixed mount (9) to move up and down in described elongated hole.
5. dual wavelength binocular vision seam tracking system according to claim 3, is characterized in that: described Y-axis fixed mount (9) left-hand face has elongated hole, and Y-axis servomotor (8) drives Y-axis fixed mount (9) to seesaw in described elongated hole.
6. dual wavelength binocular vision seam tracking system according to claim 3, is characterized in that: weldment (6) side-to-side movement that the driving of described X-axis servomotor (13) is placed on welding bench (15).
7. dual wavelength binocular vision seam tracking system according to claim 3, is characterized in that: described dual wavelength binocular vision detection system is connected with miniature Industrial Control Computer respectively by bus with three axle servo-drive seam tracking systems.
8. dual wavelength binocular vision seam tracking system according to claim 3, is characterized in that: the control system that described dual wavelength binocular vision detection system forms with three axle servo-drive seam tracking systems and miniature Industrial Control Computer is closed-loop control system.
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