CN109986171B - Welding seam positioning method, equipment and system - Google Patents
Welding seam positioning method, equipment and system Download PDFInfo
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- CN109986171B CN109986171B CN201910418488.2A CN201910418488A CN109986171B CN 109986171 B CN109986171 B CN 109986171B CN 201910418488 A CN201910418488 A CN 201910418488A CN 109986171 B CN109986171 B CN 109986171B
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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
Abstract
The application discloses a weld joint positioning method, which comprises the steps of obtaining a weld joint positioning image comprising a first structure light line, a second structure light line and a third structure light line, wherein the first structure light line, the second structure light line and the third structure light line are parallel to each other in pairs; respectively determining the intersection points of the first structured light line, the second structured light line and the third structured light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate; acquiring a first coordinate difference between the first coordinate and the first coordinate in the previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and the second coordinate in the previous frame of welding seam positioning image; and when the first coordinate difference and the second coordinate difference are equal, determining the third coordinate as the coordinate of the welding seam position. In the method, the abrupt change welding seam exists in the track, the next welding track is predicted, and the accuracy of determining the position of the welding seam is improved. In addition, the application also provides a welding seam positioning device and a welding seam positioning system with the advantages.
Description
Technical Field
The application relates to the technical field of automatic welding, in particular to a welding seam positioning method, equipment and system.
Background
Welding is an important material processing means widely applied to industrial production. With the progress of science and technology, the welding technology is continuously developing towards the trend of automation and intellectualization, so as to save the production cost and improve the welding quality. The robot and the machine vision are applied to the welding field, the traditional rigid automation mode of the welding process is thoroughly changed, and an automatic production mode with higher flexibility is developed.
Real-time seam tracking is an important component of the automation of welding processes. As the demands on the automation and level of intelligence of the welding process are increasing, the control of the weld tracking becomes of particular importance. In recent years, with the development of computer vision technology, the weld joint is more and more directly observed by computer vision, and the position information and deviation information of the weld joint are obtained through image processing, so that the welding quality is subjected to closed-loop control.
When the welding seam is positioned in the prior art, most of the utilized structural light welding seam positioning sensors are single-line structural light, namely only one laser line, the positioning of the welding seam can be realized under the condition of ideal environment or simple structure of a workpiece, but the positioning mode adopting the single-line structural light can only position the welding seam in real time, if the welding seam is complex in structure, the welding seam track has sudden change, the welding track on the next step cannot be predicted, the welding seam positioning has large deviation, and the welding precision is low.
Disclosure of Invention
The application aims to provide a welding seam positioning method, equipment and a system, so as to solve the problems that in the prior art, abrupt change welding seams exist in tracks, and the welding precision is poor.
In order to solve the technical problem, the present application provides a weld positioning method, including:
acquiring a weld positioning image comprising a first structured light line, a second structured light line and a third structured light line, wherein the first structured light line, the second structured light line and the third structured light line are parallel to each other in pairs;
respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate;
acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image;
and when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position.
Optionally, the method further includes:
and when the first coordinate difference and the second coordinate difference are not equal, determining the last credible coordinate as the coordinate of the welding seam position.
The present application further provides a weld positioning apparatus, including:
a first structured light generator for emitting a first structured light line that impinges on the weld;
the second structured light generator is used for emitting a second structured light line irradiated on the welding seam;
a third structured light generator for emitting a third structured light line illuminated on the weld;
the image acquisition device is used for acquiring a welding seam positioning image comprising the first structural light line, the second structural light line and the third structural light line, and the first structural light line, the second structural light line and the third structural light line are parallel to each other in pairs;
the controller is used for acquiring the welding seam positioning image; respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate; acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image; and when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position.
Optionally, an included angle between the first structured light generator and a normal of a plane where the welding seam is located ranges from 23 ° to 26 °, inclusive.
Optionally, an included angle between the second structured light generator and the normal is in a range of 23 ° to 26 °, inclusive.
Optionally, an angle between the third structured light generator and the normal is in a range of 28 ° to 31 °, inclusive.
Optionally, a distance between the second structured light generator and the third structured light generator ranges from 3cm to 5cm, inclusive.
Optionally, the method further includes:
and the optical filter is positioned in front of the image acquisition device and used for filtering the first structured light line, the second structured light line and the third structured light line.
Optionally, the half-wave bandwidth of the optical filter is 9nm, the diameter of the optical filter is 30mm, and the thickness of the optical filter is 1.1 mm.
The application still provides a welding seam positioning system, include any one of the aforesaid welding seam positioning device and welding robot.
According to the welding seam positioning method, a welding seam positioning image comprising a first structure light line, a second structure light line and a third structure light line is obtained, and the first structure light line, the second structure light line and the third structure light line are parallel to each other in pairs; respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate; acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image; and when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position. Therefore, according to the weld joint positioning method, the first coordinate, the second coordinate and the third coordinate can be obtained in the weld joint positioning image, the first coordinate and the second coordinate in the current weld joint positioning image are respectively corresponding to the first coordinate and the second coordinate in the previous frame of weld joint positioning image to be differed, the first coordinate difference and the second coordinate difference are obtained, the coordinate of the weld joint position is determined according to the relation between the first coordinate difference and the second coordinate difference, and the accuracy of determining the weld joint position is improved. In addition, this application still provides a welding seam positioning device who has above-mentioned advantage.
Drawings
For a clearer explanation of the embodiments or technical solutions of the prior art of the present application, the drawings needed for the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a weld positioning method provided in an embodiment of the present application;
FIG. 2 is a schematic view of a weld positioning image provided in the present embodiment;
fig. 3 is a schematic structural diagram of a weld joint positioning apparatus provided in an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As described in the background section, currently, when a weld joint is positioned, a single-line structured light is used for irradiating the weld joint to position the weld joint, but the welding joint can only be positioned in real time by adopting the single-line structured light positioning mode, if the weld joint has a complex structure and a sudden change exists in the weld joint track, the next welding track cannot be predicted, so that the weld joint has a large deviation in positioning, and the welding precision is low.
In view of the above, the present application provides a weld positioning method, please refer to fig. 1 and fig. 2, in which fig. 1 is a flowchart of a weld positioning method according to an embodiment of the present application, and fig. 2 is a schematic view of a weld positioning image according to the embodiment, the method includes:
step S101: acquiring a weld positioning image comprising a first structured light line, a second structured light line and a third structured light line, wherein the first structured light line, the second structured light line and the third structured light line are parallel to each other in pairs;
specifically, the structured light lines irradiate the surface of the weld joint, and form sudden changes occur at the intersection points of the structured light lines and the weld joint, referring to fig. 2, in the welding advancing direction, the first structured light line 13, the second structured light line 14, and the third structured light line 15 are arranged in order from front to back.
It should be noted that, in this embodiment, the frequency of obtaining the weld joint positioning image is not specifically limited, and the weld joint positioning image may be obtained in real time or may be obtained according to a certain time period as the case may be.
Step S102: respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate;
specifically, intersection points of the first structural light line, the second structural light line and the third structural light line with the weld in the weld positioning image are obtained according to a laser triangulation method, and corresponding first coordinates, second coordinates and third coordinates are obtained.
Step S103: acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image;
it should be noted that step S101 is repeated to acquire the previous frame of weld positioning image, and step S102 is repeated to acquire the first coordinate and the second coordinate in the previous frame of weld positioning image.
Step S104: and when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position.
After the position coordinate of the welding seam is determined, the position coordinate of the welding seam is calibrated by hands and eyes, namely the position coordinate of the welding seam is converted into the coordinate of the welding robot and is sent to the welding robot so that the welding robot can weld.
Specifically, assume that the first coordinate in the previous frame of the seam location image is A (x)1,y1) The second coordinate is B (x)2,y2) The third coordinate is C (x)3,y3). Under normal conditions, if the direction of the welding seam track changes, for example, the welding seam track changes from a horizontal straight line to an oblique line suddenly, the first coordinate changes firstly before the second coordinate and the third coordinate change suddenly along with the welding, and the first coordinate is A in the welding seam positioning image1(x1+a,y1+ B), the second coordinate must also become B at some subsequent moment theoretically as the weld progresses1(x2+a,y2+ b), it can be determined that the variations a and b are normal variations of the weld trajectory, i.e. non-interference or errors in the image coordinate calculation, thenThird coordinate C in weld positioning image1(x3+a3,y3+b3) Can be trusted when changes occur, C1The coordinates are determined as the coordinates of the weld position.
On the basis of the above embodiment, in another embodiment of the present application, the method further includes:
and when the first coordinate difference and the second coordinate difference are not equal, determining the last credible coordinate as the coordinate of the welding seam position.
It should be noted that the process of determining the last trusted coordinate is the same as the foregoing process, and is not described in detail here.
Specifically, assume that the first coordinate in the previous frame of the seam location image is A (x)1,y1) The second coordinate is B (x)2,y2) The third coordinate is C (x)3,y3). If the abrupt change of the welding seam track is not the actual change of the welding seam track but the error caused by the random interference of the workpiece surface or the environment, the first coordinate A in the welding seam positioning image1Is (x)1+a1,y1+b1) And as welding progresses, a second coordinate B in the welding seam positioning image1Where errors occur, the changed coordinate, second coordinate B, is also obtained1Is (x)2+a2,y2+b2) Since the abrupt change of the weld trace is not the actual change of the weld trace, a does not occur1＝a2And b is1＝b2When the discontinuity point is an untrusted point, the third coordinate C is used1In the subsequent occurrence of a mutation to (x)3+a3,y3+b3) When, C1The coordinate of the weld position cannot be determined, but the third coordinate C (x) in the previous frame of weld positioning image is determined3,y3) And determining the coordinate of the position of the welding seam to improve the accuracy of the positioning of the welding seam, wherein the third coordinate in the previous frame of welding seam positioning image is a credible coordinate.
In the weld positioning method in this embodiment, the first coordinate, the second coordinate, and the third coordinate may be obtained in the weld positioning image, the first coordinate and the second coordinate in the current weld positioning image are respectively subtracted from the first coordinate and the second coordinate in the previous frame of weld positioning image to obtain the first coordinate difference and the second coordinate difference, and the coordinate of the weld position is determined according to the relationship between the first coordinate difference and the second coordinate difference, so that the accuracy of determining the weld position is improved.
The present application further provides a welding seam positioning apparatus, please refer to fig. 3, fig. 3 is a schematic structural diagram of the welding seam positioning apparatus provided in the embodiment of the present application, and the apparatus includes:
a first structured light generator 1 for emitting a first structured light line illuminated on the weld;
a second structured light generator 2 for emitting a second structured light line illuminated on the weld;
a third structured light generator 3 for emitting a third structured light line illuminated on the weld;
specifically, the first structured light generator 1, the second structured light generator 2 and the third structured light generator 3 are fixed by the first fixing device 6, so that the positions of the first structured light line, the second structured light line and the third structured light line are prevented from being changed due to the movement of the first structured light generator 1, the second structured light generator 2 and the third structured light generator 3; the first structure light generator 1, the second structure light generator 2 and the third structure light generator 3 are connected with a power supply through a power cord 7 to work normally. Wherein the weld is located on the surface of the workpiece 8.
The image acquisition device 4 is used for acquiring a weld positioning image comprising the first structural light line, the second structural light line and the third structural light line, and the first structural light line, the second structural light line and the third structural light line are parallel to each other in pairs;
it should be noted that, in this embodiment, the type of the image capturing device 4 is not specifically limited, and may be selected, for example, the image capturing device 4 may be a CCD camera or a CMOS camera.
It should be further noted that the first structured light generator 1 is located on a first side of the image capturing device 4, the second structured light generator 2 and the third structured light generator 3 are located on a second side of the image capturing device 4, the first structured light generator 1, the second structured light generator 2, the third structured light generator 3 and the image capturing device 4 are on the same straight line, and the first structured light generator 1 and the second structured light generator 2 are symmetrical with respect to the image capturing device 4.
The controller 5 is used for acquiring the welding seam positioning image; respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding seam 8 according to the welding seam positioning image to obtain a first coordinate, a second coordinate and a third coordinate; acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image; and when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position.
Specifically, when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is a coordinate of the weld position; and when the first coordinate difference and the second coordinate difference are not equal, determining the last credible coordinate as the coordinate of the welding seam position. After the position coordinates of the welding seam are determined, the controller 5 performs hand-eye calibration on the position coordinates of the welding seam, namely, the position coordinates of the welding seam are converted into the coordinates of the welding robot and sent to the welding robot, so that the welding robot can weld the welding seam.
It should be noted that the controller 5 is connected to the image capturing device 4 through a data power line 12 to obtain the weld seam positioning image.
Preferably, the weld seam positioning apparatus further comprises a protective housing 9 for protecting the first structured light generator 1, the second structured light generator 2, the third structured light generator 3 and the image acquisition device 4.
Further, the welding seam positioning device also comprises a second fixing device 10 fixed on the outer surface of the protective shell and used for matching with clamps of different models to be assembled with the welding robot.
The welding seam positioning device provided by the embodiment acquires a welding seam positioning image comprising a first structure light line, a second structure light line and a third structure light line, wherein the first structure light line, the second structure light line and the third structure light line are parallel to each other in pairs; respectively determining the intersection points of the first structured light line, the second structured light line and the third structured light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate; acquiring a first coordinate difference between the first coordinate and the first coordinate in the previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and the second coordinate in the previous frame of welding seam positioning image; and when the first coordinate difference and the second coordinate difference are equal, determining the third coordinate as the coordinate of the welding seam position. Therefore, the welding seam positioning equipment can obtain a first coordinate, a second coordinate and a third coordinate in the welding seam positioning image, the first coordinate and the second coordinate in the current welding seam positioning image are respectively corresponding to the first coordinate and the second coordinate in the previous frame of welding seam positioning image to be differed to obtain a first coordinate difference and a second coordinate difference, the coordinate of the welding seam position is determined according to the relation between the first coordinate difference and the second coordinate difference, and the accuracy of determining the welding seam position is improved.
Preferably, in an embodiment of the present application, the angle α between the first structured light generator 1 and the normal of the plane of the weld is in the range of 23 ° to 26 °, inclusive, i.e. the angle between the first structured light line and the normal of the plane of the weld is in the range of 23 ° to 26 °.
Preferably, the angle β between the second structured light generator 2 and the normal is in the range of 23 ° to 26 °, inclusive, i.e. the angle between the second structured light line and the normal of the plane in which the weld is located is in the range of 23 ° to 26 °.
Preferably, the angle γ between the third structured light generator 3 and the normal is in the range of 28 ° to 31 °, inclusive, i.e. the angle between the third structured light line and the normal of the plane of the weld is in the range of 23 ° to 26 °.
Specifically, the structured light bar irradiates on the surface of the workpiece 8 and intersects with the weld joint, the structured light bar has sudden change at the intersection point position with the weld joint, the incident angle of the structured light bar is larger, the sudden change characteristic is more obvious, the processing and the weld joint positioning of the image are more facilitated, but the visual field size of the image acquisition device 4 changes along with the distance between the image acquisition device 4 and the surface of the workpiece 8, namely the height of the image acquisition device 4, if the incident angle is too large, the vertical distance between the image acquisition device 4 and the surface of the workpiece 8 changes, the condition of the weld joint positioning image characteristic outside the visual field of the image acquisition device 4 can be realized, and the normal work can not be realized at the moment. Therefore, the incident angles α and β of the first structured light line and the second structured light line are between 23 ° and 26 °, and at this time, the characteristics of the first structured light line and the second structured light line are obvious and the situation that the first structured light line and the second structured light line cannot be captured by the image capturing device 4 is not easy to occur. And gamma is between 28 degrees and 31 degrees, so that the purposes that the first structured light line, the second structured light line and the third structured light line are not interfered with each other and work normally can be achieved.
Preferably, the included angle α between the first structured light generator 1 and the normal of the plane where the weld is located and the included angle β between the second structured light generator 2 and the normal are equal to each other, so that the first coordinate difference and the second coordinate difference are more accurate, and further, when the third coordinate is determined to be the coordinate of the weld position, the positioning of the weld position is more accurate according to the fact that the first coordinate difference and the second coordinate difference are equal to each other.
Preferably, the distance between the second structured light generator 2 and the third structured light generator 3 ranges from 3cm to 5cm, including end point values, so as to avoid that the distance between the second structured light generator 2 and the third structured light generator 3 is too small, because due to the diffuse reflection of light, the second structured light lines and the third structured light lines interfere with each other, which affects the processing and positioning accuracy; avoid the distance between second structure light generator 2 and the third structure light generator 3 too big simultaneously, because image acquisition device 4 shoots the region limited, if the distance is too big, there may be the condition that two structure light characteristics can not be caught simultaneously to image acquisition device 4 at a certain moment, should guarantee that two structure light strips of second structure light lines and third structure light lines mutually noninterfere, can obtain by image acquisition device 4 simultaneously again.
On the basis of any one of the above embodiments, in an embodiment of the present application, the weld seam positioning apparatus further includes:
and the optical filter 11 is positioned in front of the image acquisition device 4 and used for filtering the first structure light line, the second structure light line and the third structure light line so as to remove the interference of an environment light source except a laser wave band on a welding seam positioning image and further improve the accuracy of welding seam positioning.
Preferably, the optical filter 11 has a half-wave bandwidth of 9nm, a diameter of 30mm and a thickness of 1.1 mm.
The application also provides a welding seam positioning system, which comprises the welding seam positioning equipment and the welding robot.
The welding seam positioning system in the embodiment can obtain a first coordinate, a second coordinate and a third coordinate in a welding seam positioning image, the first coordinate and the second coordinate in the current welding seam positioning image respectively correspond to the first coordinate and the second coordinate in the previous frame of welding seam positioning image to be differed, a first coordinate difference and a second coordinate difference are obtained, when the first coordinate difference and the second coordinate difference are equal, the coordinate of a welding seam position is determined to be the third coordinate, and the welding seam positioning device conducts hand-eye calibration on the third coordinate and then sends the third coordinate to the welding robot, so that the welding robot can weld the welding seam, and the welding accuracy is improved.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The method, the device and the system for positioning the weld joint provided by the application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. A weld locating method, comprising:
acquiring a weld positioning image comprising a first structured light line, a second structured light line and a third structured light line, wherein the first structured light line, the second structured light line and the third structured light line are parallel to each other in pairs;
respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate; in the welding advancing direction, the first structured light line, the second structured light line and the third structured light line are arranged in the order from front to back;
acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image;
and when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position.
2. The weld locating method of claim 1, further comprising:
and when the first coordinate difference and the second coordinate difference are not equal, determining the last credible coordinate as the coordinate of the welding seam position.
3. A weld positioning apparatus, comprising:
a first structured light generator for emitting a first structured light line that impinges on the weld;
the second structured light generator is used for emitting a second structured light line irradiated on the welding seam;
a third structured light generator for emitting a third structured light line illuminated on the weld;
the image acquisition device is used for acquiring a welding seam positioning image comprising the first structural light line, the second structural light line and the third structural light line, and the first structural light line, the second structural light line and the third structural light line are parallel to each other in pairs;
the controller is used for acquiring the welding seam positioning image; respectively determining the intersection points of the first structural light line, the second structural light line and the third structural light line and the welding line according to the welding line positioning image to obtain a first coordinate, a second coordinate and a third coordinate; acquiring a first coordinate difference between the first coordinate and a first coordinate in a previous frame of welding seam positioning image, and acquiring a second coordinate difference between the second coordinate and a second coordinate in the previous frame of welding seam positioning image; when the first coordinate difference and the second coordinate difference are equal, determining that the third coordinate is the coordinate of the welding seam position; the first structured light line, the second structured light line and the third structured light line are arranged in the order from front to back in the welding advancing direction.
4. The weld seam positioning apparatus of claim 3, wherein the first structured light generator is at an angle ranging from 23 ° to 26 °, inclusive, with respect to a normal to a plane in which the weld seam is located.
5. The weld seam positioning apparatus of claim 4, wherein the second structured light generator is at an angle in a range of 23 ° to 26 °, inclusive, from the normal.
6. The weld seam positioning apparatus of claim 5, wherein the third structured light generator is at an angle ranging from 28 ° to 31 °, inclusive, from the normal.
7. The weld seam locating apparatus of claim 6, wherein a distance between the second structured light generator and the third structured light generator ranges from 3cm to 5cm, inclusive.
8. The weld positioning apparatus according to any one of claims 3 to 7, further comprising:
and the optical filter is positioned in front of the image acquisition device and used for filtering the first structured light line, the second structured light line and the third structured light line.
9. The weld seam positioning apparatus of claim 8, wherein the filter has a half-wave bandwidth of 9nm, a diameter of 30mm, and a thickness of 1.1 mm.
10. A weld seam positioning system comprising the weld seam positioning apparatus and the welding robot according to any one of claims 3 to 9.
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| CN102528231A (en) * | 2011-12-30 | 2012-07-04 | 南昌大学 | Double-line cross laser sensing method for seam tracking |
| CN104942404B (en) * | 2015-07-15 | 2017-03-15 | 广东工业大学 | Dual wavelength binocular vision welding seam tracking method and tracking system |
| CN210046133U (en) * | 2017-12-07 | 2020-02-11 | 淮安信息职业技术学院 | Welding seam visual tracking system based on laser structured light |
| CN108406050A (en) * | 2018-03-08 | 2018-08-17 | 北京斯达峰控制技术有限公司 | Binocular laser Weld joint tracker and seam tracking system |
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2019
- 2019-05-20 CN CN201910418488.2A patent/CN109986171B/en not_active Expired - Fee Related
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