CN111745266A - Corrugated board welding track generation method and system based on 3D vision position finding - Google Patents
Corrugated board welding track generation method and system based on 3D vision position finding Download PDFInfo
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- CN111745266A CN111745266A CN202010526550.2A CN202010526550A CN111745266A CN 111745266 A CN111745266 A CN 111745266A CN 202010526550 A CN202010526550 A CN 202010526550A CN 111745266 A CN111745266 A CN 111745266A
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The embodiment of the invention discloses a corrugated board welding track generation method and a corrugated board welding track generation system based on 3D vision position finding, wherein the method comprises the following steps: teaching a scanning track and setting a welding process on a single-period welding track path; driving a welding mechanical arm to enable a 3D line scanning laser sensor at the tail end of the welding mechanical arm to continuously sample the welding seam profile of the corrugated plate, and finishing three-dimensional reconstruction of the three-dimensional configuration of the welding seam; the method comprises the steps of finishing segmentation extraction of a whole corrugated board welding line through three-dimensional point cloud feature segmentation and identification, further finishing extraction of welding process feature points on a welding line track, and matching with a preset process template of a single-period corrugated board welding line to obtain actual welding line welding track data; and generating a welding track instruction sequence which can be directly operated by the welding robot according to the obtained actual welding track of the welding seam. The corrugated plate welding track generation method based on 3D vision locating enables a welding robot to quickly complete high-quality corrugated plate welding seam welding, and welding is simple, convenient, quick and accurate.
Description
Technical Field
The invention belongs to the technical field of automatic welding of corrugated plate welding seams, and particularly relates to a corrugated plate welding track generation method and system based on 3D vision position finding.
Background
The corrugated board is a steel plate which is formed by processing technologies such as cold rolling or rolling and has a trapezoidal corrugated shape, has attractive appearance, and is widely applied to occasions such as civil buildings, warehouses, special buildings, large-span steel structures, ships, containers, truck compartments, road isolation boards and the like due to excellent performances in the aspects of rigidity, shearing resistance and bearing capacity. When the corrugated board is used, the corrugated board must be jointed with the bottom frame and the side frame of the corrugated board by welding means to meet the processing requirements of different structures, so the welding requirement for corrugated welding seams is large.
At first, the welding of the type mainly takes manual work as the main part, the labor intensity of workers is high, the welding efficiency is low, the welding effect is not ideal, the production quality depends on the technical level of the workers, the quality and the quantity of products are difficult to guarantee, and the production cost of enterprises is high. There have been some corresponding automatic welding devices that have evolved, generally mainly in the form of less than six-axis welding machines. The equipment is generally suitable for application scenes with simple and single configurations, but components with different corrugated welding seam space positions in various products and small-batch products and even complex products cannot adapt to the equipment. Therefore, for welding seams with complex spatial configurations, a multi-axis multi-joint robot is generally adopted and is combined with an extension axis to solve the problem, and as the 6-axis joint welding robot is more and more common, the robot can be used as a standard module at present so that a user can perform simple and rapid system integration layout aiming at different application scenes. However, in the case of welding corrugated welds by using the robot, most robots are teaching-in-place robots, and the teaching of welds by hand is not only high in workload, but also high in difficulty and high in professional requirement, so that the problem of easy generation of welding tracks of the welds needs to be solved.
In addition, the welding seam of the corrugated board often has the characteristic of large error, and the welding quality cannot be guaranteed by a single mechanism, so that the corrugated welding seam detection and the welding motion compensation are completed by adopting some compensation means, but one-dimensional laser position finding indirect measurement means is adopted, so that the problem of inaccurate compensation often occurs when two-dimensional or even three-dimensional deviation occurs in the welding seam, and therefore, the three-dimensional compensation position also needs to be solved.
Disclosure of Invention
The invention provides a corrugated board robot welding track automatic generation system based on 3D vision position finding for solving the technical problems in the prior art.
The technical scheme adopted by the invention is as follows:
a corrugated board welding track generation method based on 3D vision locating comprises the following steps:
s1, teaching a scanning track and setting a welding process on a single-period welding track path, finishing the teaching of a 3D line scanning laser sensor at the tail end of a welding mechanical arm on the scanning path of a welding seam in an off-line state of the system, and establishing a welding template of the welding seam of the corrugated plate corresponding to different process stages on the single-period welding track path based on the set welding process;
s2, driving the welding mechanical arm to enable the 3D line scanning laser sensor at the tail end of the welding mechanical arm to continuously sample the welding seam profile of the corrugated plate, and completing three-dimensional reconstruction of the three-dimensional configuration of the welding seam;
s3, completing segmentation extraction of the whole corrugated board welding line through three-dimensional point cloud feature segmentation and recognition, further completing extraction of welding process feature points on the welding line track, and matching the welding process feature points with a preset process template of a single-period corrugated board welding line to obtain actual welding line welding track data;
and S4, generating a welding track instruction sequence which can be directly operated by the welding robot by using the obtained actual welding track of the welding seam.
Further, in step S1, the scan trajectory teaching method includes:
s1.1, operating and guiding a 3D line scanning laser sensor loaded at the tail end of a mechanical arm to a corresponding position according to the approximate position of a welding seam to be welded, so that projected laser is enabled to carry out covering scanning on the welding seam;
s1.2, completing the teaching of the track and the setting of the detection information of the 3D line scanning laser sensor in a scanning track teaching interface module.
Further, the 3D line scan laser sensor is a triangulation-based 3D camera projecting laser lines.
Further, the single-cycle welding seam track path comprises an arc starting point, an arc ending point and a welding middle point.
Further, the welding intermediate point comprises a straight line point, a turning point and a turning transition point.
Further, the process is characterized by welding parameters applied to corresponding welding location points, and the welding parameters comprise: welding attitude, welding speed, welding current, and welding voltage.
On the other hand, the invention also provides a corrugated board welding track generation system based on 3D vision locating, which comprises:
the 3D line scanning laser sensor is fixedly arranged at the tail end of the welding mechanical arm together with the welding gun and is used for detecting and positioning the three-dimensional characteristics of the welding seam of the corrugated plate under the working coordinate system of the welding robot;
the corrugated plate welding line identification module is connected with the 3D line scanning laser sensor and used for acquiring three-dimensional reconstruction information of a corrugated plate welding line and identifying an actual welding line track;
the corrugated board welding line welding characteristic extraction module is connected with the corrugated board welding line identification module and is used for filtering the welding line three-dimensional track points of the identified actual welding line track, then completing the segmentation of the corrugated board welding line through 'segment clustering', and further extracting the angular point characteristic point data of the corrugated board welding line;
the system comprises a corrugated board welding seam welding template, a corrugated board welding seam welding characteristic extraction module, a single-period corrugated board welding process input interface, a corrugated board welding seam welding characteristic calculation module and a corrugated board welding seam welding characteristic calculation module, wherein the corrugated board welding seam welding template is respectively connected with the corrugated board welding seam welding characteristic extraction module and the single-period corrugated board welding process input interface, teaching and setting of process characteristics of a specified welding position point of a corrugated board welding seam in a single period are obtained through the single-period corrugated board welding process input interface, angular point characteristic point data of the corrugated board welding seam are obtained through the corrugated board welding seam welding characteristic extraction module, mapping from a detection characteristic point of an actual welding seam to a template welding seam position;
the robot welding track generation module is connected with the corrugated plate welding seam welding template and used for generating an obtained actual welding seam welding track into a welding track instruction sequence which can be directly operated by the welding robot;
and the robot control execution module is connected with the robot welding track generation module to acquire the welding track instruction sequence and drive a mechanical arm and a welding gun of the welding robot to complete automatic welding of the actual corrugated plate welding line.
Further, the robot control execution module is connected with the welding robot controller, and the welding robot body is connected with the welding robot controller.
Further, the robot control execution module and the 3D line scanning laser sensor are respectively connected with a scanning track teaching interface.
Further, the 3D line scan laser sensor is a triangulation-based 3D camera projecting laser lines.
The invention has the advantages and positive effects that: according to the invention, three-dimensional scanning and characteristic point extraction of the whole corrugated board welding line are completed through a 3D line scanning laser vision technology of a 3D line scanning laser sensor, and then a corresponding robot welding track program is automatically generated through matching with a preset corrugated board welding process.
Drawings
FIG. 1 is a flow chart of a weld trace generation method of the present invention;
FIG. 2 is a schematic block diagram of a weld trace generation system of the present invention;
figure 3 is a schematic representation of the single cycle weld characteristics of the corrugated board of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
In order to further understand the contents, features and effects of the present invention, the following embodiments are described in detail as follows:
referring to fig. 1, as shown in the figure, an embodiment of the present invention provides a method for generating a welding track of corrugated board based on 3D visual positioning, the method includes the following steps:
s1, teaching a scanning track and setting a welding process on a single-period welding track path, finishing the teaching of a 3D line scanning laser sensor at the tail end of a welding mechanical arm on the scanning path of a welding seam in an off-line state of the system, and establishing a welding template of the welding seam of the corrugated plate corresponding to different process stages on the single-period welding track path based on the set welding process;
s2, driving the welding mechanical arm to enable the 3D line scanning laser sensor at the tail end of the welding mechanical arm to continuously sample the welding seam profile of the corrugated plate, and completing three-dimensional reconstruction of the three-dimensional configuration of the welding seam;
s3, completing segmentation extraction of the whole corrugated board welding line through three-dimensional point cloud feature segmentation and recognition, further completing extraction of welding process feature points on the welding line track, and matching the welding process feature points with a preset process template of a single-period corrugated board welding line to obtain actual welding line welding track data;
and S4, generating a welding track instruction sequence which can be directly operated by the welding robot by using the obtained actual welding track of the welding seam.
Further, in step S1, the scan trajectory teaching method includes the steps of:
s1.1, operating and guiding a 3D line scanning laser sensor loaded at the tail end of a mechanical arm to a corresponding position according to the approximate position of a welding seam to be welded, so that projected laser is enabled to carry out covering scanning on the welding seam;
s1.2, completing the teaching of the track and the setting of the detection information of the 3D line scanning laser sensor in a scanning track teaching interface module.
In a preferred embodiment of the invention, the 3D line scan laser sensor is a triangulation based 3D camera projecting laser lines. The single-cycle welding seam track path comprises an arc starting point, an arc ending point and a welding intermediate point, wherein the welding intermediate point comprises a straight line point, a turning point and a turning transition point. Specifically, as shown in fig. 3, one single cycle includes point pairs XP1-XP18, the welding position points include an arc starting point XP1, an arc contracting point XP2 and a welding middle point XP3-XP18, the welding middle point XP3-XP18 includes a straight line point, a turning point and a turning transition point in the middle of welding, the straight line points include a welding point XP3 and a welding point XP11 on the middle section 1 and the middle section 3, the turning point includes a welding point XP7 and a welding point XP15 on the middle section 2 and the middle section 4, the turning transition point includes a welding point XP4, a welding point XP5, a welding point XP6, a welding point XP8, a welding point XP9, a welding point XP10, a welding point XP12, a welding point XP13, a welding point 14, a welding point XP16, a welding point XP17 and a welding point XP18 at the connection position of the middle section 3 and the middle section 4.
In a preferred embodiment of the invention, the process is characterized by welding parameters applied at respective welding location points, the welding parameters comprising: welding attitude, welding speed, welding current, and welding voltage. When the user completes the process setup, a "corrugated sheet weld seam welding template" will be created that will be able to accommodate any subsequent batch of corrugated sheet weld seams similar to this type of welding process feature.
Referring to fig. 2, in another aspect, an embodiment of the present invention further provides a system for generating a welding track of corrugated board based on 3D visual localization, where the system includes: the device comprises a 3D line scanning laser sensor, a corrugated board welding line recognition module, a corrugated board welding line welding characteristic extraction module, a corrugated board welding line welding template, a robot welding track generation module and a robot control execution module. The 3D line scanning laser sensor and the welding gun are installed and fixed at the tail end of the welding mechanical arm together, and the three-dimensional feature detection and positioning of the welding line of the corrugated plate under the working coordinate system of the welding robot are completed. Specifically, the 3D line-scan laser sensor is mounted at the end of a welding robot arm together with a welding gun, forms a typical "hand-eye system" with the welding robot arm, and can perform three-dimensional feature detection and positioning under a working coordinate system of the welding robot through calibration. The robot control execution module and the 3D line scanning laser sensor are respectively connected with a scanning track teaching interface, the whole robot body is generally installed on a one-dimensional linear guide rail at least along the direction of a welding seam to expand the movement coverage range of the robot body, the basic movement of the robot body is controlled by a welding robot controller matched with the robot body, the online system part of the system is mainly arranged on an industrial personal computer with instruction processing capability, and communication is established with the 3D line scanning laser sensor and the welding robot controller to form a front end closed loop control system in the real physical sense.
Specifically, the corrugated board welding seam identification module is connected with the 3D line scanning laser sensor and used for acquiring three-dimensional reconstruction information of the corrugated board welding seam and identifying an actual welding seam track. The corrugated board welding seam welding characteristic extraction module is connected with the corrugated board welding seam identification module and used for carrying out filtering processing on welding seam three-dimensional track points of an identified actual welding seam track, then completing segmentation of the corrugated board welding seam through 'segment clustering', and further extracting angular point characteristic point data of the corrugated board welding seam. The corrugated board welding line welding template is respectively connected with the corrugated board welding line welding characteristic extraction module and the single-period corrugated board welding process input interface, and teaching and setting of process characteristics of the corrugated board welding line on a designated welding position point in a single period are acquired through the single-period corrugated board welding process input interface; and acquiring corner point feature point data of the corrugated plate welding line through a corrugated plate welding line feature extraction module, establishing mapping from the detection feature point of the actual welding line to a template welding line pose point corresponding to the taught corrugated plate welding line welding template, and generating a group of updated actual welding line tracks. And the robot welding track generation module is connected with the corrugated plate welding seam welding template and used for generating an obtained actual welding seam welding track into a welding track instruction sequence which can be directly operated by the welding robot. And the robot control execution module is connected with the robot welding track generation module to acquire the welding track instruction sequence, and drives a mechanical arm and a welding gun of the welding robot to complete automatic welding of the actual welding seam of the corrugated board.
The working principle of the welding track generation system is as follows: firstly, a user of the system can complete the teaching of the system for the welding seam scanning detection track and the setting of the welding process aiming at the first workpiece needing to weld a type of welding seam at present through a software interface of the system in an off-line state, wherein the off-line state refers to a teaching setting time period when the system and the robot body do not start the corrugated board scanning and the welding operation on the spot. Specifically, according to the approximate position of the welding seam to be welded, a user of the system needs to operate and guide a 3D line scanning laser sensor loaded at the tail end of a mechanical arm to the corresponding position, then the welding seam of the corrugated plate is covered according to the projected laser, teaching of the welding seam track and setting of detection information of the sensor are completed in a scanning track teaching interface module, the welding seam track information is transmitted to a robot control execution module to ensure execution of subsequent online movement, and the detection information is transmitted to the 3D line scanning laser sensor to ensure accurate detection of the welding seam of the corrugated plate. Generally, under the condition of ensuring that the sensor has enough depth of field, the teaching of the scanning starting point and the scanning end point is only needed. Further aiming at the welding seam of the corrugated board, finding out a single period of the welding seam, such as a path shown by welding points XP1-XP18 in fig. 3, and finishing the teaching and setting of the process characteristics on the designated welding position point on the single period path by a user. When the process set-up is complete, a "corrugated sheet weld seam welding template" will be created which will be able to accommodate the welding of any subsequent batch of corrugated sheet welds similar to this type of welding process characteristic.
Then, the on-line operation system is started, and the robot control execution module is a program adopting a C/S architecture, wherein a client is to be erected on the welding robot controller, and a server is to be operated on the physical carrier of the system of the invention on the on-line system part, wherein the on-line system part is composed of the functional modules and the logical connection structure thereof in the 'on-line' block diagram shown in FIG. 2. Therefore, the robot control execution module automatically drives the mechanical arm of the welding robot body through Ethernet communication and the 3D line scanning laser sensor which is mechanically connected with the mechanical arm to detect the welding seam. The adopted 3D line scanning laser sensor is a 3D camera which projects laser lines and is based on a triangulation method, can finish three-dimensional reconstruction of the three-dimensional configuration of a welding line if continuous sampling is carried out on the contour of the welding line in motion, and reconstruction information of the three-dimensional configuration is transmitted to a corrugated plate welding line identification module.
Referring to fig. 3, after filtering the three-dimensional track points of the welding seam, the corrugated board welding seam recognition module completes the segmentation of the welding seam of the corrugated board through "segment clustering", that is, the "segment clustering" segmentation of "middle segment 1", "middle segment 2", "middle segment 3" and "middle segment 4" in fig. 3. After the corrugated board welding line is segmented through the segment clustering, angular point feature points of the corrugated board welding line are further extracted through a corrugated board welding line welding feature extraction module, and angular point feature point data are obtained. The actual welding line is matched with a preset corrugated board welding line welding template to obtain mapping inheritance for the template welding process, wherein mapping from a detection characteristic point of the actual welding line to a template welding line pose point corresponding to the corrugated board welding line welding template is established mainly through matching based on the geometric shape of a straight line segment, so that inheritance and cycle expansion of preset template process information of the corrugated board welding line welding template are completed in different cycle segments of the actual welding line track, and finally a group of updated actual welding line tracks are generated in the corrugated board welding line welding template.
The actual welding track in the corrugated board welding template which is updated is completed, the robot welding track sequence is generated through the robot welding track generation module and is transmitted to the robot control execution module, and the module also starts to operate the mechanical arm of the welding robot body and the welding gun which is mechanically connected with the mechanical arm through the client module of the C/S framework automatic driving welding robot controller based on the Ethernet, and drives the welding robot to complete the automatic welding of the welding line corresponding to the corrugated board weldment.
In conclusion, the invention finishes three-dimensional scanning and characteristic point extraction of the whole welding line of the corrugated board by a 3D line scanning laser vision technology of a 3D line scanning laser sensor, and then automatically generates a corresponding robot welding track program by matching with a preset corrugated board welding process.
In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. The embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of a method, system, and apparatus according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing an industrial control device to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.
Claims (10)
1. A corrugated board welding track generation method based on 3D vision locating is characterized by comprising the following steps:
s1, teaching a scanning track and setting a welding process on a single-period welding track path, finishing the teaching of a 3D line scanning laser sensor at the tail end of a welding mechanical arm on the scanning path of a welding seam in an off-line state of the system, and establishing a welding template of the welding seam of the corrugated plate corresponding to different process stages on the single-period welding track path based on the set welding process;
s2, driving the welding mechanical arm to enable the 3D line scanning laser sensor at the tail end of the welding mechanical arm to continuously sample the welding seam profile of the corrugated plate, and completing three-dimensional reconstruction of the three-dimensional configuration of the welding seam;
s3, completing segmentation extraction of the whole corrugated board welding line through three-dimensional point cloud feature segmentation and recognition, further completing extraction of welding process feature points on the welding line track, and matching the welding process feature points with a preset process template of a single-period corrugated board welding line to obtain actual welding line welding track data;
and S4, generating a welding track instruction sequence which can be directly operated by the welding robot by using the obtained actual welding track of the welding seam.
2. The method for generating a welding track of corrugated board based on 3D vision positioning as claimed in claim 1, wherein in the step S1, the teaching of the scanning track comprises the steps of:
s1.1, operating and guiding a 3D line scanning laser sensor loaded at the tail end of a mechanical arm to a corresponding position according to the approximate position of a welding seam to be welded, so that projected laser is enabled to carry out covering scanning on the welding seam;
s1.2, completing the teaching of the track and the setting of the detection information of the 3D line scanning laser sensor in a scanning track teaching interface module.
3. The method as claimed in claim 1, wherein the 3D line scan laser sensor is a triangulation-based 3D camera projecting laser lines.
4. The method as claimed in claim 1, wherein the path of the welding track of the corrugated board based on 3D vision positioning comprises an arc starting point, an arc ending point and a welding middle point.
5. The method for generating a welding track of corrugated board based on 3D vision localization as claimed in claim 4, wherein the welding intermediate point comprises a straight line point, a turning point and a turning transition point.
6. The method as claimed in claim 1, wherein the process characteristic is a welding parameter applied to a corresponding welding position point, and the welding parameter includes: welding attitude, welding speed, welding current, and welding voltage.
7. A corrugated board welding track generation system based on 3D vision seeks a bit, its characterized in that includes:
the 3D line scanning laser sensor is fixedly arranged at the tail end of the welding mechanical arm together with the welding gun and is used for detecting and positioning the three-dimensional characteristics of the welding seam of the corrugated plate under the working coordinate system of the welding robot;
the corrugated plate welding line identification module is connected with the 3D line scanning laser sensor and used for acquiring three-dimensional reconstruction information of a corrugated plate welding line and identifying an actual welding line track;
the corrugated board welding line welding characteristic extraction module is connected with the corrugated board welding line identification module and is used for filtering the welding line three-dimensional track points of the identified actual welding line track, then completing the segmentation of the corrugated board welding line through 'segment clustering', and further extracting the angular point characteristic point data of the corrugated board welding line;
the system comprises a corrugated board welding seam welding template, a corrugated board welding seam welding characteristic extraction module, a single-period corrugated board welding process input interface, a corrugated board welding seam welding characteristic calculation module and a corrugated board welding seam welding characteristic calculation module, wherein the corrugated board welding seam welding template is respectively connected with the corrugated board welding seam welding characteristic extraction module and the single-period corrugated board welding process input interface, teaching and setting of process characteristics of a specified welding position point of a corrugated board welding seam in a single period are obtained through the single-period corrugated board welding process input interface, angular point characteristic point data of the corrugated board welding seam are obtained through the corrugated board welding seam welding characteristic extraction module, mapping from a detection characteristic point of an actual welding seam to a template welding seam position;
the robot welding track generation module is connected with the corrugated plate welding seam welding template and used for generating an obtained actual welding seam welding track into a welding track instruction sequence which can be directly operated by the welding robot;
and the robot control execution module is connected with the robot welding track generation module to acquire the welding track instruction sequence and drive a mechanical arm and a welding gun of the welding robot to complete automatic welding of the actual corrugated plate welding line.
8. The 3D vision localization-based corrugated board welding trajectory generation system as claimed in claim 7, wherein said robot control execution module is connected with a welding robot controller, and a welding robot body is connected with said welding robot controller.
9. The 3D vision-homing based corrugated board welding track generation system of claim 7, wherein said robot control execution module and said 3D line-scan laser sensor are respectively connected with a scan track teaching interface.
10. The 3D vision-homing based corrugated board welding track generation system of claim 7, wherein said 3D line-scan laser sensor is a triangulation based 3D camera projecting laser lines.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112122842A (en) * | 2020-10-13 | 2020-12-25 | 湘潭大学 | Delta welding robot system based on laser vision |
| CN112453648A (en) * | 2020-11-17 | 2021-03-09 | 上海智殷自动化科技有限公司 | Off-line programming laser welding seam tracking system based on 3D vision |
| CN112620926A (en) * | 2020-12-18 | 2021-04-09 | 深圳辰视智能科技有限公司 | Welding spot tracking method and device and storage medium |
| CN112692406A (en) * | 2020-12-14 | 2021-04-23 | 深圳市瑞凌实业股份有限公司 | Welding line energy acquisition device and method |
| CN112958973A (en) * | 2021-02-08 | 2021-06-15 | 西安知象光电科技有限公司 | Welding vision locating device of medium plate robot based on structured light three-dimensional vision |
| CN113223071A (en) * | 2021-05-18 | 2021-08-06 | 哈尔滨工业大学 | Workpiece weld joint positioning method based on point cloud reconstruction |
| CN113579598A (en) * | 2021-07-29 | 2021-11-02 | 湖北欧阳华俊专用汽车有限公司 | Curve welding machine |
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| CN113894481A (en) * | 2021-09-09 | 2022-01-07 | 中国科学院自动化研究所 | Method and device for adjusting welding pose of complex space curve welding seam |
| CN114161048A (en) * | 2021-12-30 | 2022-03-11 | 常熟理工学院 | Iron tower foot parametric welding method and device based on 3D vision |
| CN114227054A (en) * | 2022-01-05 | 2022-03-25 | 南昌大学 | Automatic detection method for tube plate welding seam based on 3D point cloud |
| CN114283139A (en) * | 2021-12-27 | 2022-04-05 | 常熟理工学院 | Weld joint detection and segmentation method and device based on area array structured light 3D vision |
| CN114789442A (en) * | 2022-04-24 | 2022-07-26 | 重庆创御智能装备有限公司 | Self-adaptive path planning algorithm for welding robot |
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| CN112122842A (en) * | 2020-10-13 | 2020-12-25 | 湘潭大学 | Delta welding robot system based on laser vision |
| CN112453648A (en) * | 2020-11-17 | 2021-03-09 | 上海智殷自动化科技有限公司 | Off-line programming laser welding seam tracking system based on 3D vision |
| CN112692406B (en) * | 2020-12-14 | 2022-09-16 | 深圳市瑞凌实业集团股份有限公司 | Welding line energy acquisition device and method |
| CN112692406A (en) * | 2020-12-14 | 2021-04-23 | 深圳市瑞凌实业股份有限公司 | Welding line energy acquisition device and method |
| CN112620926A (en) * | 2020-12-18 | 2021-04-09 | 深圳辰视智能科技有限公司 | Welding spot tracking method and device and storage medium |
| CN112958973A (en) * | 2021-02-08 | 2021-06-15 | 西安知象光电科技有限公司 | Welding vision locating device of medium plate robot based on structured light three-dimensional vision |
| CN113223071A (en) * | 2021-05-18 | 2021-08-06 | 哈尔滨工业大学 | Workpiece weld joint positioning method based on point cloud reconstruction |
| CN113579598A (en) * | 2021-07-29 | 2021-11-02 | 湖北欧阳华俊专用汽车有限公司 | Curve welding machine |
| CN113579598B (en) * | 2021-07-29 | 2023-06-23 | 湖北欧阳华俊专用汽车有限公司 | Curve welding machine |
| CN113894481A (en) * | 2021-09-09 | 2022-01-07 | 中国科学院自动化研究所 | Method and device for adjusting welding pose of complex space curve welding seam |
| CN113829344A (en) * | 2021-09-24 | 2021-12-24 | 深圳群宾精密工业有限公司 | Visual guide track generation method, device, equipment and medium suitable for flexible product |
| CN114283139A (en) * | 2021-12-27 | 2022-04-05 | 常熟理工学院 | Weld joint detection and segmentation method and device based on area array structured light 3D vision |
| CN114283139B (en) * | 2021-12-27 | 2024-08-20 | 常熟理工学院 | Weld joint detection segmentation method and device based on area array structured light 3D vision |
| CN114161048A (en) * | 2021-12-30 | 2022-03-11 | 常熟理工学院 | Iron tower foot parametric welding method and device based on 3D vision |
| CN114161048B (en) * | 2021-12-30 | 2023-11-21 | 常熟理工学院 | 3D vision-based parameterized welding method and device for tower legs of iron tower |
| CN114227054A (en) * | 2022-01-05 | 2022-03-25 | 南昌大学 | Automatic detection method for tube plate welding seam based on 3D point cloud |
| CN114227054B (en) * | 2022-01-05 | 2023-01-31 | 南昌大学 | Automatic detection method for tube plate welding seam based on 3D point cloud |
| CN114789442A (en) * | 2022-04-24 | 2022-07-26 | 重庆创御智能装备有限公司 | Self-adaptive path planning algorithm for welding robot |
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