CN113172307A - Industrial robot system of visual module based on laser and visible light fusion - Google Patents
Industrial robot system of visual module based on laser and visible light fusion Download PDFInfo
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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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
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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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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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
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- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention relates to an industrial robot system based on a visual module with laser and visible light fused, which comprises: performing multi-point scanning on the workpiece through a laser sensor, and identifying the appearance and the direction of the workpiece; collecting welding seam image information, extracting image characteristics, establishing a welding seam tracking visual model according to an image characteristic identification algorithm, determining a track of a curve welding seam, and correspondingly mapping pixel points of the track; the robot walks along the track, collects the real-time track of the welding line, and compares the real-time track of the welding line with a preset track to obtain a deviation rate; judging whether the deviation rate is greater than a preset deviation rate threshold value or not; if the difference is larger than the preset threshold value, generating deviation compensation information, adjusting a welding path and welding parameters according to the deviation compensation information, and performing weld characteristic corner identification and weld information three-dimensional reconstruction on the workpiece to be welded by a laser-visible light fusion visual scanning technology and a digital image processing technology to realize automatic locating and weld characteristic intelligent identification of the welding starting point robot.
Description
Technical Field
The invention relates to an industrial robot system, in particular to an industrial robot system based on a visual module with laser and visible light fused.
Background
China has become the largest welding equipment producing country and export country in the world. At present, the economic types of enterprises in the electric welding machine industry in China are mainly private enterprises, stockmaking enterprises, Chinese and foreign joint-fund enterprises and foreign independent-fund enterprises. The total number of enterprises is about 700. From the distribution of application industries, the proportion of Chinese welding robots applied to the automobile industry in 2019 is 37.15%, wherein more than 60% of robots are concentrated in a whole automobile welding workshop; secondly, the 3C electronic industry accounts for approximately 12%; other industries have applications in excess of 50%. The homogenization of the electric welding machine industry develops, each enterprise is excessively concentrated in product composition and market orientation, so that the vicious competition of price is caused, the overall benefit of the electric welding machine industry is damaged, the number of electric welding machine manufacturers is large, the general scale is small, the product chain is imperfect, and the electric welding machine manufacturers lack powerful competitive power with foreign dominant enterprises. The electric welding machine enterprises are mostly lack of core technologies, a large number of enterprises pursue scale expansion one by one, the output is improved by adopting a rough production mode to obtain a large market share, a large amount of funds are difficult to be taken into consideration to research and develop high-end products, the copying and copying phenomena of the products are serious, and the development of new materials, new processes and new equipment is realized, so that the development of the welding technology is promoted or reversed, the flexibility and the intelligent level of industrial robots on a production line are improved, the enterprises can easily realize the optimization of production efficiency and the improvement of production quality, the digitization, the networking and the intellectualization of industrial production are achieved, and the intelligent welding solution for the robots of high-quality light-weight materials can be one of the future directions; the application carries out the visual module development of laser-visible light fusion technique, and realize the application in the welding robot field with this technique, provide a light alloy material welding industrial robot, help car, aviation through industrial welding robot's application, the relevant enterprise in the rail transit trade improves the welding precision of metal alloy material, welding speed and quality level, realize the intelligent manufacturing and the flexible production of welding process, domestic automatic welding system generally is in the level of relay switching value marshalling control, the transmission of each automation welding part information volume is very limited, be difficult to realize complicated welding process coordination control. At present, the application field of industrial robots is expanded to various industries such as engineering manufacturing and the like, such as painting, polishing, welding, assembling, carrying and the like. All these applications encounter a problem of how to optimize the path of the robot during operation. Whether the working points are determined by manual programming or manually taught, if the robot automatically connects the points and plans an optimal route, the working procedure time is obviously greatly improved, and the energy consumption is saved. Early path planning research was mainly focused on static environments, and methods include a grid decoupling method, a topology method, a visual graph method, and the like.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides an industrial robot system based on a visual module with laser and visible light fused.
In order to achieve the purpose, the invention adopts the technical scheme that: an industrial robot system based on a laser and visible light fused vision module, comprising: performing multi-point scanning on the workpiece through a laser sensor, and identifying the appearance and the direction of the workpiece;
collecting welding seam image information, extracting image characteristics, and establishing a welding seam tracking visual model according to an image characteristic identification algorithm;
determining the track of the curve welding line according to the welding line tracking visual model, and then correspondingly mapping out pixel points of the track;
the robot walks along the track and collects the real-time track of the welding seam,
comparing the real-time welding seam track with a preset track to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if so, generating deviation compensation information, and adjusting the welding path and the welding parameters according to the deviation compensation information.
In a preferred embodiment of the present invention, the scanning mode of the laser sensor is set according to the type of the workpiece.
In a preferred embodiment of the present invention, the industrial robot system comprises a 51-chip microcomputer, a ZLDS200 laser sensor, a 3CPU 4 micro-program controller, an ac servo motor, a welding robot, an image recognition fusion sensor, a visible light image collection device, a visible light image fusion device, and a visible light image display screen.
In a preferred embodiment of the present invention, the 51-chip microcomputer is used for controlling the visible light image collection device to perform image parameter and feature collection, performing significance fusion and then performing contrast screening, selecting an optimal image and inputting the optimal image into the visible light image display screen, performing pixel-level, feature-level and decision-level fusion welding robot on the image, and operating the welding robot to complete welding tracking.
In a preferred embodiment of the invention, the welding seam tracking module further comprises a welding seam tracking module, wherein the welding seam tracking module adopts a forward and reverse algorithm and a trajectory planning algorithm, welding process parameters such as welding current, voltage, swing arc, molten drop transition and the like are organically and uniformly combined with the space trajectory planning of the welding robot, and the combined planning of the space trajectory and the process parameters is realized through off-line programming.
In a preferred embodiment of the present invention, the welding system further comprises a welding seam quality detection module, wherein the welding seam quality detection module is configured to monitor welding parameters, and the welding parameters include one or a combination of two or more of strong arc radiation information, high temperature information, smoke information, splash information, groove condition information, machining error information, clamp clamping accuracy information, surface state information, and workpiece thermal deformation information.
In a preferred embodiment of the invention, the system further comprises a laser-visible light fusion visual scanning module, and the laser-visible light fusion visual scanning module performs characteristic corner point identification and three-dimensional reconstruction of welding seam information of the workpiece to be welded by a digital image processing technology.
In a preferred embodiment of the present invention, the robot system further comprises an execution module and a communication module, wherein the execution module is used for controlling the actions of the industrial robots, when the industrial robots are multiple, when a certain task of the multi-robot system is given, the execution module and the communication module cooperate to organize the multiple robots to complete the task, and the overall task is distributed to each industrial robot to perform the multi-robot cooperation linkage.
In a preferred embodiment of the invention, the system further comprises an information feedback module, and the information feedback module is used for feeding back the factors of machining and assembling errors of the welding workpiece, size dispersion of welding seam gaps, misalignment and the like, thermal deformation of the welding process and fixture instability to the industrial robot.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) and (3) welding sequence: the welding sequence can be adjusted in a self-adaptive and dynamic mode aiming at unexpected working condition changes (deformation, misalignment, gaps and the like), the initial welding position is identified in welding, the welding is not influenced by environment changes, the reliability is high, the adjustment response in the dynamic welding process is fast, the effect is good, the welding seam is not interfered by arc light through visual tracking, and the accurate tracking of visual dead angles and blind areas can be realized.
(2) The multilayer and multi-channel planning of the welding seam has strong adaptability to the welding groove, can self-adaptively plan the welding bead and adjust process parameters, prevent welding defects, have means for actively inhibiting and preventing the generation of the welding defects, have welding quality consistency and sensing means for reliable on-line representation, change of environment and conditions in the welding process is inevitable, and factors such as size dispersion of welding workpiece processing and assembly errors, welding seam gaps, misalignment and the like, thermal deformation in the welding process, fixture instability and the like can cause the fluctuation of the welding quality and cause the generation of the welding defects. How to overcome the influence of various uncertain factors on the precision welding quality in the welding process urgently needs an intelligent welding robot with information feedback, intelligent control and other technologies, which is dominant in projects, so as to realize intelligent welding.
(3) The robot adopts a forward and reverse algorithm and a trajectory planning algorithm, welding process parameters such as welding current, voltage, swing arc, molten drop transition and the like are organically and uniformly combined with the space trajectory planning of the welding robot, the combined planning of the space trajectory and the process parameters is realized through offline programming, the welding efficiency is improved, the welding quality is improved, and the automatic tracking welding of welding seams without precision requirements on workpiece appearance consistency and workpiece positioning tools can be realized.
(4) In the welding process of the welding robot, due to the influence of various factors of the welding environment, for example: the welding method comprises the following steps of strong arc radiation, high temperature, smoke, splashing, groove conditions, machining errors, clamp clamping precision, surface state, workpiece thermal deformation and the like, and changes of actual welding conditions often cause deviation of a welding torch from a welding seam, so that welding quality is reduced and even fails. The project team requires the arc welding robot to detect the welding seam deviation in real time according to the change of the welding conditions, and adjusts the welding path and the welding parameters to ensure the reliability of the welding quality.
(5) By the weld image feature recognition algorithm with high robustness and high operation efficiency, path planning and deviation compensation can be rapidly and accurately provided for the robot, and the welding quality and speed of the robot are effectively improved; the image recognition system does not crash or crash under the conditions of errors, disk faults, network overload or intentional attack, and meanwhile, the method can utilize a smaller computer memory, improve the processing speed of the image and meet the requirement of high-precision weld tracking.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 shows a system diagram of an industrial robot based on a laser and visible light fused vision module according to the invention;
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1, a first aspect of the present invention provides an industrial robot system based on a visual module with laser and visible light fused, comprising: performing multi-point scanning on the workpiece through a laser sensor, and identifying the appearance and the direction of the workpiece;
collecting welding seam image information, extracting image characteristics, and establishing a welding seam tracking visual model according to an image characteristic identification algorithm;
determining the track of the curve welding line according to the welding line tracking visual model, and then correspondingly mapping out pixel points of the track;
the robot walks along the track and collects the real-time track of the welding seam,
comparing the real-time welding seam track with a preset track to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if so, generating deviation compensation information, and adjusting the welding path and the welding parameters according to the deviation compensation information.
It should be noted that in the welding seam image feature recognition method with high robustness, a welding robot image feature recognition algorithm based on vision is designed, a corresponding welding seam tracking visual model is established, the track of a curve welding seam is determined through robot teaching, then pixel points of the track are correspondingly mapped, the robot walks along the track, and when welding seam deviation is found, welding seam deviation compensation is carried out through visual servo control. By the weld image feature recognition algorithm with high robustness and high operation efficiency, path planning and deviation compensation can be rapidly and accurately provided for the robot, and the welding quality and speed of the robot are effectively improved; the image recognition system does not crash or crash under the conditions of errors, disk faults, network overload or intentional attack, and meanwhile, the method can utilize a smaller computer memory, improve the processing speed of the image and meet the requirement of high-precision weld tracking.
According to the embodiment of the invention, the scanning mode of the laser sensor is set according to the variety of the workpiece.
According to the embodiment of the invention, the industrial robot system comprises a 51 single chip microcomputer, a ZLDS200 laser sensor, a 3CPU 4 micro-program controller, an alternating current servo motor, a welding robot, an image recognition and fusion sensor, a visible light image collection device, a visible light image fusion device and a visible light image display screen.
According to the embodiment of the invention, the 51 single chip microcomputer is used for controlling the visible light image collecting device to collect image parameters and characteristics, performing significance fusion and then comparing and screening, selecting the best image and inputting the best image into the visible light image display screen, performing pixel-level, characteristic-level and decision-level fusion welding robot on the image, and operating the welding robot to complete welding tracking.
According to the embodiment of the invention, the welding line tracking module is further provided, the welding line tracking module adopts a forward and reverse algorithm and a trajectory planning algorithm, welding process parameters such as welding current, voltage, swing arc, molten drop transition and the like are organically and uniformly combined with the space trajectory planning of the welding robot, and the combined planning of the space trajectory and the process parameters is realized through offline programming.
According to the embodiment of the invention, the welding line quality detection module is further included and is used for monitoring welding parameters, and the welding parameters comprise one or more of strong arc radiation information, high temperature information, smoke information, splashing information, groove condition information, machining error information, clamp clamping precision information, surface state information and workpiece thermal deformation information.
According to the embodiment of the invention, the welding line three-dimensional reconstruction method further comprises a laser-visible light fusion visual scanning module, and the laser-visible light fusion visual scanning module is used for identifying the characteristic corner points of the welding line of the workpiece to be welded and reconstructing the information of the welding line in three dimensions through a digital image processing technology.
According to the embodiment of the invention, the multi-robot system further comprises an execution module and a communication module, wherein the execution module is used for controlling the industrial robots to act, when the industrial robots are multiple, and when a certain task of the multi-robot system is given, the execution module and the communication module cooperate to organize the multiple robots to complete the task, and the overall task is distributed to each industrial robot to perform multi-robot cooperation linkage.
According to the embodiment of the invention, the device further comprises an information feedback module, wherein the information feedback module is used for feeding back the processing and assembling errors of the welding workpiece, the size dispersion such as welding seam gaps and misalignment, the thermal deformation in the welding process and the fixture instability factors to the industrial robot.
The welding sequence can be adaptively and dynamically adjusted according to unexpected working condition changes (deformation, misalignment, gaps and the like), the initial welding position is identified during welding, the welding is not influenced by environmental changes, the reliability is high, the adjustment response of the dynamic welding process is fast, the effect is good, the welding seam is not interfered by arc light through visual tracking, and the visual dead angle and the blind area can be accurately tracked.
The multilayer and multi-channel planning of the welding seam has strong adaptability to the welding groove, can self-adaptively plan the welding bead and adjust process parameters, prevent welding defects, have means for actively inhibiting and preventing the generation of the welding defects, have welding quality consistency and sensing means for reliable on-line representation, change of environment and conditions in the welding process is inevitable, and factors such as size dispersion of welding workpiece processing and assembly errors, welding seam gaps, misalignment and the like, thermal deformation in the welding process, fixture instability and the like can cause the fluctuation of the welding quality and cause the generation of the welding defects. How to overcome the influence of various uncertain factors on the precision welding quality in the welding process urgently needs an intelligent welding robot with information feedback, intelligent control and other technologies, which is dominant in projects, so as to realize intelligent welding.
The robot adopts a forward and reverse algorithm and a trajectory planning algorithm, welding process parameters such as welding current, voltage, swing arc, molten drop transition and the like are organically and uniformly combined with the space trajectory planning of the welding robot, the combined planning of the space trajectory and the process parameters is realized through offline programming, the welding efficiency is improved, the welding quality is improved, and the automatic tracking welding of welding seams without precision requirements on workpiece appearance consistency and workpiece positioning tools can be realized.
In the welding process of the welding robot, due to the influence of various factors of the welding environment, for example: the welding method comprises the following steps of strong arc radiation, high temperature, smoke, splashing, groove conditions, machining errors, clamp clamping precision, surface state, workpiece thermal deformation and the like, and changes of actual welding conditions often cause deviation of a welding torch from a welding seam, so that welding quality is reduced and even fails. The project team requires the arc welding robot to detect the welding seam deviation in real time according to the change of the welding conditions, and adjusts the welding path and the welding parameters to ensure the reliability of the welding quality.
The multi-robot system is a system formed by combining a plurality of robots into a whole through cooperation and coordination in order to complete a certain task. The project team realizes multi-robot cooperation and multi-robot coordination control by using an intelligent technology, ensures that in a certain network environment, each dispersed and relatively independent intelligent subsystem completes one or more control operation tasks together through cooperation, and the technology can realize that: when a certain task of the multi-robot system is given, a plurality of robots can be organized to complete the task, and the overall task is distributed to each member robot, namely, the robots are effectively cooperated.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of a unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, 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.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. An industrial robot system based on a laser and visible light fused vision module, comprising: the laser scanner scans the workpiece at multiple points through a laser sensor and identifies the appearance and the position of the workpiece;
the image acquisition module acquires the image information of the welding seam, extracts the image characteristics and establishes a welding seam tracking visual model according to an image characteristic identification algorithm;
determining the track of the curve welding line according to the welding line tracking visual model, and then correspondingly mapping out pixel points of the track;
the robot walks along the track and collects the real-time track of the welding seam,
comparing the real-time welding seam track with a preset track to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if so, generating deviation compensation information, and adjusting the welding path and the welding parameters according to the deviation compensation information.
2. An industrial robot system based on a laser and visible light fused vision module according to claim 1, characterized in that: the scanning mode of the laser sensor is set according to the variety of the workpiece.
3. An industrial robot system based on a laser and visible light fused vision module according to claim 1, characterized in that: the industrial robot system comprises a 51 single chip microcomputer, a ZLDS200 laser sensor, a 3CPU 4 micro-program controller, an alternating current servo motor, a welding robot, an image recognition fusion sensor, a visible light image collecting device, a visible light image fusion device and a visible light image display screen.
4. An industrial robot system based on a laser and visible light fused vision module according to claim 3, characterized in that: the 51 single chip microcomputer is used for controlling the visible light image collecting device to collect image parameters and characteristics, performing significance fusion and then performing contrast screening, selecting the best image to input into the visible light image display screen, performing pixel-level, characteristic-level and decision-level fusion on the image, and operating the welding robot to complete welding tracking.
5. An industrial robot system based on a laser and visible light fused vision module according to claim 1, characterized in that: the welding line tracking module organically and uniformly combines welding process parameters such as welding current, voltage, swing arc, molten drop transition and the like with the space trajectory planning of the welding robot by adopting a forward and reverse algorithm and a trajectory planning algorithm, and realizes the combined planning of the space trajectory and the process parameters through off-line programming.
6. An industrial robot system based on a laser and visible light fused vision module according to claim 1, characterized in that: the welding line quality detection module is used for monitoring welding parameters, and the welding parameters comprise one or more of strong arc radiation information, high temperature information, smoke information, splashing information, groove condition information, machining error information, clamp clamping precision information, surface state information and workpiece thermal deformation information.
7. An industrial robot system based on a laser and visible light fused vision module according to claim 1, characterized in that: the laser-visible light fusion visual scanning module is used for identifying the characteristic corner points of the welding seam of the workpiece to be welded and reconstructing the information of the welding seam in three dimensions through a digital image processing technology.
8. The system of claim 1, further comprising an execution module and a communication module, wherein the execution module is used for controlling the actions of the industrial robots, when the industrial robots are multiple, and when a task is given to the multi-robot system, the execution module and the communication module cooperate to organize the multiple robots to complete the task, and distribute the overall task to each industrial robot to perform the multi-robot cooperation linkage.
9. An industrial robot system based on a laser and visible light fused vision module according to claim 1, characterized in that: the welding robot further comprises an information feedback module, and the information feedback module is used for feeding back the machining and assembling errors of the welding workpiece, the size dispersity of gaps and misalignment of welding seams and the like, and the thermal deformation and fixture instability factors of the welding process to the industrial robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110313327.4A CN113172307A (en) | 2021-03-24 | 2021-03-24 | Industrial robot system of visual module based on laser and visible light fusion |
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| CN113579601A (en) * | 2021-08-16 | 2021-11-02 | 北京博清科技有限公司 | Welding bead positioning method and device, welding robot and storage medium |
| CN113579601B (en) * | 2021-08-16 | 2023-01-10 | 北京博清科技有限公司 | Welding bead positioning method and device, welding robot and storage medium |
| CN113996931A (en) * | 2021-11-12 | 2022-02-01 | 中国航空制造技术研究院 | Automatic adjusting device and method for laser welding butt joint and edge staggering |
| CN114487113A (en) * | 2021-12-16 | 2022-05-13 | 卡尔克鲁斯机器人科技(中国)有限公司 | Automatic detection method and device for weld defects |
| CN114193046A (en) * | 2022-01-18 | 2022-03-18 | 太原科技大学 | Intelligent welding robot communication control method and system |
| CN114633021A (en) * | 2022-03-02 | 2022-06-17 | 武汉逸飞激光股份有限公司 | Laser welding method and device for real-time vision acquisition |
| CN114633021B (en) * | 2022-03-02 | 2024-03-29 | 武汉逸飞激光股份有限公司 | Real-time vision acquisition laser welding method and device thereof |
| CN114473306A (en) * | 2022-03-04 | 2022-05-13 | 中煤北京煤矿机械有限责任公司 | Intelligent welding system for hydraulic support structural part |
| CN114515923A (en) * | 2022-03-11 | 2022-05-20 | 上海隧道工程智造海盐有限公司 | Visual positioning system applied to tunnel steel bar welding |
| CN114654468A (en) * | 2022-04-12 | 2022-06-24 | 东莞理工学院 | Welding robot control system based on vision |
| CN114888793A (en) * | 2022-04-21 | 2022-08-12 | 同济大学 | Double-layer cooperative control method for multi-arm double-beam laser welding robot |
| CN114888793B (en) * | 2022-04-21 | 2023-08-04 | 同济大学 | Double-layer cooperative control method for multi-arm double-beam laser welding robot |
| CN114851195A (en) * | 2022-04-24 | 2022-08-05 | 重庆创御智能装备有限公司 | Control method of visual welding process system |
| CN114769768A (en) * | 2022-05-19 | 2022-07-22 | 广州精艺智能设备有限公司 | Automatic production process and system for outer reinforcing ribs of vacuum pressure container |
| CN115351448A (en) * | 2022-08-10 | 2022-11-18 | 北斗启明（北京）节能科技服务有限公司 | Novel visual automatic welding technology |
| CN115055806B (en) * | 2022-08-11 | 2022-11-18 | 先富斯技术（武汉）有限公司 | Welding track tracking method and device based on visual tracking |
| CN115026378A (en) * | 2022-08-11 | 2022-09-09 | 深圳市鸿栢科技实业有限公司 | Welding robot with mobile positioning control device |
| CN115055806A (en) * | 2022-08-11 | 2022-09-16 | 先富斯技术（武汉）有限公司 | Welding track tracking method and device based on visual tracking |
| CN115179302A (en) * | 2022-09-13 | 2022-10-14 | 北京石油化工学院 | Control method for locating, planning and correcting welding robot in nuclear environment |
| CN115488503B (en) * | 2022-09-23 | 2023-08-15 | 广州卫亚汽车零部件有限公司 | Curve track locating method and system based on robot welding |
| CN115488503A (en) * | 2022-09-23 | 2022-12-20 | 广州卫亚汽车零部件有限公司 | Method and system for searching curve track based on robot welding |
| CN115586749A (en) * | 2022-12-12 | 2023-01-10 | 深圳市捷牛智能装备有限公司 | Workpiece machining track control method based on machine vision and related device |
| CN116160174A (en) * | 2023-04-21 | 2023-05-26 | 山东芯合机器人科技有限公司 | Binocular vision-based weld joint identification and tracking control method |
| CN116871632A (en) * | 2023-09-08 | 2023-10-13 | 南京理工大学 | Robot backing welding forming defect monitoring method based on arc voltage and molten pool vision |
| CN116871632B (en) * | 2023-09-08 | 2023-11-21 | 南京理工大学 | Robot backing welding forming defect monitoring method based on arc voltage and molten pool vision |
| CN117260074A (en) * | 2023-09-21 | 2023-12-22 | 广州盛美电气设备有限公司 | Welding automation control method, device, equipment and medium |
| CN117324769A (en) * | 2023-11-14 | 2024-01-02 | 江西瑞升科技股份有限公司 | Automatic precise laser welding method based on CCD visual detection |
| CN117324769B (en) * | 2023-11-14 | 2024-03-29 | 江西瑞升科技股份有限公司 | Automatic precise laser welding method based on CCD visual detection |
| CN117483954A (en) * | 2023-12-29 | 2024-02-02 | 深圳市恒永达科技股份有限公司 | Thin-wall metal laser welding method, system and medium |
| CN117483954B (en) * | 2023-12-29 | 2024-03-22 | 深圳市恒永达科技股份有限公司 | Thin-wall metal laser welding method, system and medium |
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