CN107378315A - A kind of robotic laser visual sensing inspection software system - Google Patents
A kind of robotic laser visual sensing inspection software system Download PDFInfo
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- CN107378315A CN107378315A CN201710489271.1A CN201710489271A CN107378315A CN 107378315 A CN107378315 A CN 107378315A CN 201710489271 A CN201710489271 A CN 201710489271A CN 107378315 A CN107378315 A CN 107378315A
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- robot
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- displacement sensor
- software system
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Classifications
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Abstract
The invention discloses a kind of robotic laser visual sensing inspection software system, including robot, in addition to it is arranged in robot, the laser displacement sensor for weld seam scanning；This method specifically comprises the following steps：Step 1: image procossing：The laser displacement sensor detects that image is pre-processed and is converted to data signal by A/D；Step 2: information extraction：Weld information in data signal described in step 1 is extracted and stored；Step 3: information superposition and control：The positional information of the information of step 2 storage and robot is overlapped and sends pulse information, the pulse information is controlled to robot.The convenient operation of the present invention, adaptive all kinds of welding types, cost is low, production efficiency is high.
Description
Technical field
The present invention relates to a kind of robotic laser visual sensing inspection software system.
Background technology
Increasingly faster with industrial development, robot is generalized in industrial development, the bonding machine for industrial welding
Device people, in welding process, generally welding robot is manually controlled to carry out welding job with a variety of different postures, automatically
Change degree is low, simultaneously as manual control accuracy is low, it is excessive to handle degree-of-difficulty factor for weld seam.
The content of the invention
It is an object of the invention to provide a kind of robotic laser visual sensing inspection software system, convenient operation, adaptively
All kinds of welding types, cost is low, production efficiency is high.
The object of the present invention is achieved like this：A kind of robotic laser visual sensing inspection software system, including machine
People's control system, robot, in addition to be arranged in robot, the laser displacement sensor for weld seam scanning；This method has
Body comprises the following steps：
Step 1: detection：The laser displacement sensor detection identifies weld seam locus, shape, the position signalling of feedback
Instruct to robot control system；
Step 2: image procossing：The image that step 1 is detected is pre-processed and changed by A/D
For data signal；
Step 3: information extraction：Weld information in data signal described in step 2 is extracted and stored；
Step 4: information superposition and control：The positional information of the information of step 3 storage and robot is overlapped and sent
Pulse information, the pulse information are controlled to robot.
Compared with prior art, the beneficial effects of the present invention are：Due to laser displacement sensor can precision ranging, pin
To specific weld seam form, disturbing factor is filtered out, accurately calculates the section configuration of weld seam, finds out correct position while welding, side
Convenient to operate, adaptive all kinds of welding types, cost is low, production efficiency is high.
As the improvement of the present invention, the weld information includes positional information, groove information, misalignment information respectively.
As a further improvement on the present invention, the laser displacement sensor is divided into laser triangulation, return laser beam
Analytic approach；The laser triangulation is used for high accuracy, short distance measurement, and the return laser beam analytic approach is used to survey at a distance
Amount.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention.
Embodiment
As shown in figure 1, a kind of robotic laser visual sensing inspection software system, including robot control system, machine
People, in addition to be arranged in robot, the laser displacement sensor for weld seam scanning；This method specifically comprises the following steps：
Step 1: detection：The laser displacement sensor detection identifies weld seam locus, shape, the position signalling of feedback
Instruct to robot control system；
Step 2: image procossing：The image that step 1 is detected is pre-processed and changed by A/D
For data signal；
Step 3: information extraction：Weld information in data signal described in step 2 is extracted and stored；
Step 4: information superposition and control：The positional information of the information of step 3 storage and robot is overlapped and sent
Pulse information, the pulse information are controlled to robot.
Above-mentioned weld information includes positional information, groove information, misalignment information respectively.
Above-mentioned laser displacement sensor is divided into laser triangulation, return laser beam analytic approach；The laser triangulation
Method is used for high accuracy, short distance measurement, and the return laser beam analytic approach is used for telemeasurement.
Operation principle of the present invention is described below, and workpiece is scanned by laser displacement sensor, and detection identifies weldering
Gap space position, shape, the position signalling of feedback are instructed to robot control system, realize robot automatically scanning, detection
Function.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour can makes one to some of which technical characteristic
A little to replace and deform, these are replaced and deformation is within the scope of the present invention.
Claims (3)
- A kind of 1. robotic laser visual sensing inspection software system, it is characterised in that：Including robotControl system, robot, in addition to be arranged in robot, the laser displacement sensor for weld seam scanning；This method Specifically comprise the following steps：Step 1: detection：The laser displacement sensor detection identifies weld seam locus, shape, the position signalling of feedback Instruct to robot control system；Step 2: image procossing：The image that step 1 is detected is pre-processed and changed by A/DFor data signal；Step 3: information extraction：Weld information in data signal described in step 2 is extracted and stored；Step 4: information superposition and control：The positional information of the information of step 3 storage and robot is overlapped and sent Pulse information, the pulse information are controlled to robot.
- A kind of 2. robotic laser visual sensing inspection software system according to claim 1, it is characterised in that：The weldering Stitch information includes positional information, groove information, misalignment information respectively.
- A kind of 3. robotic laser visual sensing inspection software system according to claim 1, it is characterised in that：It is described to swash Optical displacement sensor is divided into laser triangulation, return laser beam analytic approach；The laser triangulation is used for high-precision, short Range measurement, the return laser beam analytic approach are used for telemeasurement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710489271.1A CN107378315A (en) | 2017-06-24 | 2017-06-24 | A kind of robotic laser visual sensing inspection software system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710489271.1A CN107378315A (en) | 2017-06-24 | 2017-06-24 | A kind of robotic laser visual sensing inspection software system |
Publications (1)
| Publication Number | Publication Date |
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| CN107378315A true CN107378315A (en) | 2017-11-24 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710489271.1A Pending CN107378315A (en) | 2017-06-24 | 2017-06-24 | A kind of robotic laser visual sensing inspection software system |
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Citations (6)
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|---|---|---|---|---|
| CN102837103A (en) * | 2012-09-14 | 2012-12-26 | 长沙长泰机器人有限公司 | Automatic assembling and welding system based on three-dimensional laser vision |
| CN102950365A (en) * | 2011-08-30 | 2013-03-06 | 昆山工研院工业机器人研究所有限公司 | Compensation method of hand-eye relation between laser vision sensing head and welding gun |
| CN104002051A (en) * | 2014-06-03 | 2014-08-27 | 湖南大学 | Vertical detection device and method for laser welding |
| US20150001196A1 (en) * | 2013-07-01 | 2015-01-01 | Electronics And Telecommunications Research Institute | Apparatus and method for monitoring laser welding bead |
| CN105312731A (en) * | 2014-07-30 | 2016-02-10 | 李文畅 | Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe |
| CN105643158A (en) * | 2016-03-22 | 2016-06-08 | 哈尔滨工业大学 | Self-adaptive laser scanning device for welding seam and control method |
-
2017
- 2017-06-24 CN CN201710489271.1A patent/CN107378315A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102950365A (en) * | 2011-08-30 | 2013-03-06 | 昆山工研院工业机器人研究所有限公司 | Compensation method of hand-eye relation between laser vision sensing head and welding gun |
| CN102837103A (en) * | 2012-09-14 | 2012-12-26 | 长沙长泰机器人有限公司 | Automatic assembling and welding system based on three-dimensional laser vision |
| US20150001196A1 (en) * | 2013-07-01 | 2015-01-01 | Electronics And Telecommunications Research Institute | Apparatus and method for monitoring laser welding bead |
| CN104002051A (en) * | 2014-06-03 | 2014-08-27 | 湖南大学 | Vertical detection device and method for laser welding |
| CN105312731A (en) * | 2014-07-30 | 2016-02-10 | 李文畅 | Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe |
| CN105643158A (en) * | 2016-03-22 | 2016-06-08 | 哈尔滨工业大学 | Self-adaptive laser scanning device for welding seam and control method |
Non-Patent Citations (1)
| Title |
|---|
| 黄志坚等: "《液压及电控系统设计开发》", 31 October 2015, 中国电力出版社 * |
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Application publication date: 20171124 |