CN201514565U - Laser weld seam tracking device - Google Patents

Laser weld seam tracking device Download PDF

Info

Publication number
CN201514565U
CN201514565U CN 200920015701 CN200920015701U CN201514565U CN 201514565 U CN201514565 U CN 201514565U CN 200920015701 CN200920015701 CN 200920015701 CN 200920015701 U CN200920015701 U CN 200920015701U CN 201514565 U CN201514565 U CN 201514565U
Authority
CN
China
Prior art keywords
image acquisition
laser
image
welding gun
motion
Prior art date
Application number
CN 200920015701
Other languages
Chinese (zh)
Inventor
姜春英
邹媛媛
柳连柱
吴强
郭奇
康永军
Original Assignee
中国科学院沈阳自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院沈阳自动化研究所 filed Critical 中国科学院沈阳自动化研究所
Priority to CN 200920015701 priority Critical patent/CN201514565U/en
Application granted granted Critical
Publication of CN201514565U publication Critical patent/CN201514565U/en

Links

Abstract

The utility model relates to a laser weld seam tracking device, which comprises an image acquisition and processing unit, a motion control unit and an upper parameter setting and control unit. The image acquisition and processing unit is used for collecting image data on characteristics of a laser weld seam, processing the image data and transmitting information on the position of the weld seam; the motion control unit is used for receiving, analyzing and processing the information on the position of the weld seam and transmitting motion control commands to a movement shaft executing mechanism, and the upper parameter setting and control unit is used for image acquisition and processing parameters and motion control parameters and is respectively connected with the image acquisition and processing unit and the motion control unit through communication. The utility model can adapt to various weld seam types and various processes, and has the advantages of good universality, high flexibility, high independence, high precision, accurate positioning, high adaptability and the like.

Description

A kind of laser bonding weld joint tracking implement device

Technical field

The utility model relates to vision measurement and smart motion control technology in the robot manufacturing field, a kind of specifically laser bonding weld joint tracking implement device.

Background technology

At present, in the welding technology of making robot is produced, generally adopt the mode of control manually, robot teaching or off-line programing to carry out path planning and movement programming, just simply repeat predefined action in the welding process.But in laser bonding,, therefore higher requirement has been proposed laser welding apparatus because it has the technological requirement of high-speed, high precision.

In existing weld joint tracking implementation, the general sensors such as machinery, electromagnetism, vision that adopt provide weld seam information, are handled by system, realize welding torch position control.But such seam tracking system generally seals, and is sensor and Processing Algorithm at particular system exploitation, lacks general, seam tracking system in real time flexibly and independently.External had the product of ripe laser bonding seam tracking system of part, but the comparison system performance is each has something to recommend him, be difficult on the precision and speed on satisfy the requirement of laser bonding high-speed, high precision simultaneously, and system architecture is huge, it is complicated to constitute.

The utility model content

At above shortcomings part in the prior art, the technical problems to be solved in the utility model provides a kind of have precision height, accurate, the adaptable laser bonding weld joint tracking implement device in location.

For solving the problems of the technologies described above, the technical solution adopted in the utility model is:

A kind of laser bonding weld joint tracking of the utility model implement device comprises:

Image acquisition and processing unit, welding seam position information is handled and exported to the view data of collection laser bonding weld seam feature to this view data;

Motion control unit receives above-mentioned welding seam position information and carries out analyzing and processing, sends motion control instruction to kinematic axis topworks;

Upper-layer parameters is provided with and control module, and image acquisition and processing parameter, motion control parameter are set, and carries out communication and is connected with image acquisition and processing unit, motion control unit respectively.

Described image acquisition and processing unit comprise LASER Light Source, optical module and smart camera, and wherein a word line laser of LASER Light Source generation reflects by welding work pieces, is gathered by smart camera through optical module; Described laser source wavelength is 660nm, and power is that 50mw~100mw is adjustable; Optical filter in the described optical module can see through the light wave of wavelength 660nm.

Described motion control unit comprises motion controller, kinematic axis driver and kinematic axis topworks, wherein:

Motion controller is the control core with DSP, links to each other by the CAN bus with the smart camera of image acquisition and processing unit, and the positional information of its input is analyzed, calculated, and obtains the control position information of kinematic axis topworks;

The kinematic axis driver, the control position information of reception motion controller exports kinematic axis topworks to, and compensating motion is corrected in the tracking of final welding gun butt welded seam position of realizing.

The utility model is realized its control procedure by the following method:

Beginning is provided with parameter by upper-layer parameters setting and control module;

Gather weld image in real time by image acquisition and processing unit, and carry out image algorithm and handle and to obtain the weld image data;

With the weld image metadata cache, the rower of going forward side by side is handled surely, determines the welding gun side-play amount of current images acquired correspondence;

Motion controller in the motion control unit carries out filtering, match and the trajectory planning of pursuit path according to above-mentioned welding gun side-play amount;

Aforementioned calculation result gives the kinematic axis driver kinematic axis topworks is implemented control.

Described parameter comprises filtering, the match control algolithm parameter of laser instrument light intensity regulating parameter, workpiece parameter, image processing algorithm parameter and pursuit path computation process.

Described image algorithm processing combines by FPGA hardware programming and dsp software programming and realizes, wherein realizes the image preprocessing process by the FPGA hardware programming, may further comprise the steps:

Window to gathering weld image, obtain area-of-interest;

The region of interest area image is carried out medium filtering obtain image after the filtering;

Image after the filtering is carried out the binary image enhancement process;

Image after the binaryzation being implemented the mathematical morphology of expansion and corrosion handles;

Image after expansion and the corrosion is carried out edge extracting;

Image behind the edge extracting is carried out center line to be extracted;

Realize the feature point extraction process by the dsp software programming, may further comprise the steps:

Adopt least square method to carry out fitting a straight line to handle the center line that obtains by FPGA;

By finding maximum corner position to find unique point, realize feature point extraction.

The welding gun side-play amount of described definite current images acquired correspondence may further comprise the steps:

Optical plane uniformly-spaced is divided into rectangular node by density, and each grid vertex is the unique point of prior demarcation;

In as the plane, have and the corresponding grid of optical plane, carry out the actual measurement of grid each point, obtain image coordinate (u, the v) pairing optical plane physical coordinates (x on irregular grid summit in the picture plane by position control w, y w, z w), obtain corresponding relation database table;

The weld bead feature points information that obtains for above-mentioned Flame Image Process, be any to be calibrated some P (u in the picture plane, v), go out its physical coordinates, obtain the three-dimensional coordinate P (x of actual welds point by the little quadrilateral mesh interpolation calculation of surrounding this point to be calibrated in the above-mentioned related table of having set up w, y w, z w).

By three-dimensional coordinate (x, y, z) and camera and welding gun physical location relation determine to be fixed in the tracking displacement of the welding gun butt welded seam in the kinematic axis topworks.

The filtering of described pursuit path, match are also calculated trace point and movement instruction planning function in real time, and implementation procedure may further comprise the steps:

Motion controller adopts the welding gun offset information of collection of timer interrupt mode reading images and processing unit;

The welding gun offset information that apparent distance scope obtains before the motion controller pursuit path filtration module is as the filtering input information, filtering parameter (as intermediate value or mean filter algorithm and 3 or 5 filtering parameters) by the host computer transmission carries out the selection of algorithm and parameter, the length of 2 times of forward sight distances as filter window is set, finish filtering and calculate, output is through the welding gun side-play amount after the filtering;

The pursuit path fitting module with the output quantity of filtration module as input, fitting parameter by host computer transmission carries out the selection of approximating method (as least square or cubic spline match) and match window size (as parameter setting or forward sight apart from the multiple setting), finish The Fitting Calculation, and the division that the line segment after the match is controlled the welding gun side-play amount according to the time beat synchronous with gathering beat is calculated in real time;

The output quantity of tracking trajectory planning module after with The Fitting Calculation by leading deviation calculation method, calculated the rectification side-play amount that current welding gun need be followed the tracks of compensating motion as input, and carries out movement instruction planning according to the control beat of 10 milliseconds of predetermined multiples.

Described leading deviation calculation method is as follows:

When welding gun forward travel distance during smaller or equal to L, welding gun from the position " n " correction value of " n+1 " is to the position:

Delta n + 1 = Dist n + 1 - Σ p = 1 n Delta p ( n + 1 ≤ M , n , p ⊆ Z ) ; The welding gun forward travel distance is smaller or equal to L; Wherein:

M is the forward sight distance L length welding gun beat number that advances, and promptly welding gun begins the processing picture number before the real-time follow-up;

The advance last beat number of control beat of welding gun when n is the leading deviate of current calculating;

P is a certain beat before the current location;

Dist N+1The distance that departs from initial position for the current location welding gun;

Delta pCorrection value for the last relatively beat of a certain beat horizontal level before the current location;

Delta N+1Correction value for the last relatively beat of current location position.

Back, welding gun in-position " M " correction value computing formula is:

Delta M + n + 1 = Dist M + n + 1 - Σ p = n + 2 M + n Delta p ( n , p ⊆ Z ) ;

Wherein:

M, the p implication is the same;

N controls the last beat number of beat for beginning from initial position to advance apart from the current location welding gun that begins length after to calculate through first forward sight;

Dist M+n+1The distance that departs from initial position for the current location welding gun;

Delta pCorrection value for the last relatively beat of a certain beat horizontal level before the current location;

Delta M+n+1Correction value for the last relatively beat of current location position.

The utlity model has following beneficial effect and advantage:

1. use the utility model and can adapt to multiple weld seam type and technology, can realize the high precision real-time positioning of position while welding, have advantages such as versatility is good, dirigibility is strong and independence is high and precision is high, the location accurate, adaptability is strong.The utility model can adapt to V-arrangement interface, overlap joint and etc. multiple weld seam types such as slab, unequal thickness plate butt joint, gather the laser welded seam image, extract the weld bead feature points position; Smart camera provides network interface to realize that host computer is provided with the running parameter of camera, and the weld joint tracking position data transmission after the CAN communication interface carries out Flame Image Process is provided; Motion control DSP has to the simulated power control interface of linear laser device and to the signal interactive interface of PLC; After finishing parameter and be provided with at a kind of operating mode, system can break away from host computer and independently finish automatic weld joint tracking.

The utility model at V-arrangement interface, overlap joint with etc. the different operating modes of multiple weld seam types such as slab, unequal thickness plate butt joint designed different parameters and be used for the weld image processing module, and according to smart camera and the connected mode that connects firmly of following the tracks of topworks, developed leading deviation Weld Seam Tracking Control algorithm, to adapt to the weld joint tracking requirement of multiple welds types operating mode.

Description of drawings

Fig. 1 is the structured flowchart of the utility model laser bonding weld joint tracking implement device;

Fig. 2 is an implementation method control flow chart of the present utility model;

Fig. 3 is the structured flowchart of smart camera in the utility model;

Fig. 4 is the functional flow diagram of smart camera in the utility model;

Fig. 5 is a motion control unit functional flow diagram in the utility model;

Fig. 6 is the calibrating function schematic diagram of smart camera in the utility model;

Fig. 7 is that switch board of the present utility model is arranged synoptic diagram;

Fig. 8 is the utility model example structure synoptic diagram;

Fig. 9~Figure 15 is treatment effect figure ()~(seven) that should be used for each step of Flame Image Process of utility model;

Figure 16 follower and weld seam relative position synoptic diagram.

Embodiment

The utility model structure comprises as shown in Figure 1:

Image acquisition and processing unit, welding seam position information is handled and exported to the view data of collection laser bonding weld seam feature to this view data;

Motion control unit receives above-mentioned welding seam position information and carries out analyzing and processing, sends motion control instruction to kinematic axis topworks;

Upper-layer parameters is provided with and control module, and image acquisition and processing parameter, motion control parameter are set, and carries out communication and is connected with image acquisition and processing unit, motion control unit respectively.

Described image acquisition and processing unit comprise LASER Light Source, optical module and smart camera, and wherein a word line laser of LASER Light Source generation reflects by welding work pieces, is gathered by smart camera through optical module.

Described motion control unit comprises motion controller, kinematic axis driver and kinematic axis topworks, wherein:

Motion controller is the control core with DSP, links to each other by the CAN bus with the smart camera of image acquisition and processing unit, and the positional information of its input is analyzed, calculated, and obtains the control position information of kinematic axis topworks;

The kinematic axis driver receives the control position information of motion controller, exports to kinematic axis topworks, thereby finishes the tracking rectification compensating motion of the welding gun butt welded seam position that the utility model institute will finally realize.

As shown in Figure 8, the smart camera 3 in the system connects firmly with following the tracks of topworks 10, and welding welding-gun 9 connects firmly with topworks 10.Semiconductor one word line laser instrument 1, optical filter 2 and smart camera 3 have been encapsulated in image acquisition and the processing unit 4.The 1st perforate 6 of outer cover top, be used to draw the connection of power lead, laser power analog control signal line and the smart camera CAN Bus and the ethernet lan of laser instrument and smart camera, the 1st, 2 perforates 7,8 are as the going out of image acquisition and processing unit 4 air cooling systems, air intake.Single-piece frame and welding gun 9 are rigidly connected, mounting distance accurately guarantees by mounting hole, be and integral body connected in the topworks 10, thereby topworks 10 can realize the adjustment of welding gun 9 with respect to position while welding perpendicular to the bead direction motion, in the present embodiment with what direction? be defined as the Y direction.Topworks 10 passes through support 11 overall fixed on welding gear.As shown in Figure 7, motion control unit and upper-layer parameters setting and control module are integrated to be installed in the switch board, wherein the kinematic axis driver in the motion control unit is that servo-driver is installed in the switch board below, the industrial control computer of motion controller DSP2812 and employing Windows system is the top that upper-layer parameters setting and control module are installed on switch board respectively, spare interface connects smart camera cable in image acquisition and the processing unit 4, outside PLC (be used for link to each other with other system realization external control) and system's power supply etc., the switch board guidance panel is equipped with display and various pilot lamp, button and emergency stop switch.

The laser beam that semiconductor one word line laser instrument 1 sends produces the structured light plane, shines the welding work pieces surface, forms the feature laser stripe of weld seam 5, laser focus is 110mm, the focal position live width is 0.044mm, and power is 50~100mw, and wavelength is 660nm.Optical filter 2 can be through the light wave of wavelength 660nm.Smart camera 3 is gathered the laser stripe image that is formed by laser instrument 1.

The laser bonding seam tracking system is always worked flow process as shown in Figure 2, may further comprise the steps:

Beginning is provided with parameter by upper-layer parameters setting and control module;

Gather weld image in real time by image acquisition and processing unit, and carry out image algorithm and handle and to obtain the weld image data;

With the weld image metadata cache, the rower of going forward side by side is handled surely, determines the welding gun side-play amount of current images acquired correspondence;

Motion controller in the motion control unit carries out filtering, the match of pursuit path and calculates the planning of trace point and movement instruction in real time according to above-mentioned welding gun side-play amount;

Aforementioned calculation result gives the kinematic axis driver kinematic axis topworks is implemented control.

At first, parameter is set, comprises 1 by upper-layer parameters setting and control module) laser instrument light intensity regulating parameter, be transferred to slave computer DSP2812 by serial ports, by its simulation control interface the laser instrument light intensity is being controlled; 2) selection of interface shapes such as V word interface, butt joint, overlap joint and etc. the selection of slab, unequal thickness plate welding condition, and the correlation parameter of the size of windowing, filtering scheduling algorithm is transferred to smart camera by the lan network interface; 3) set the filtering of tracker pursuit path, fitting parameter, be transferred to the DSP2812 motion control unit by serial ports.

Then, gather weld image in real time, and carry out image algorithm and handle and to obtain the weld image data by image acquisition and processing unit; With the weld image metadata cache, the rower of going forward side by side is handled surely, determines the welding gun side-play amount of current images acquired correspondence, and detailed process is as follows:

Image acquisition and processing unit are gathered in real time and are carried out the weld image processing capacity and finished by smart camera, the composition structure of smart camera as shown in Figure 3, the course of work as shown in Figure 4, now specifically describe as follows: the optical sensor of camera carries out image acquisition according to certain beat, beat control, correlation parameters such as the time shutter and the size of windowing are finished by the LAN (Local Area Network) LAN interface by host computer and are preestablished, FPGA reads and gathers the original image that is stored in " frame buffer ", and carry out the hard-wired image processing function of FPGA, comprise and windowing, filtering, binaryzation, expand and corrosion, edge extracting and axis of a weld extract, image processing effect is seen Fig. 9~15, wherein Fig. 9 is the original weld image that has the sign of windowing, Figure 10 is the region of interest area image after windowing, Figure 11 is the image after the Filtering Processing, Figure 12 is the image after the binary conversion treatment, Figure 13 is the image after expansion and the corrosion treatment, Figure 14 is the image of edge extracting after handling, and Figure 15 extracts image after the processing for center line.The axis of a weld image data storage of extracting is in " image buffer storage ", magazine DSP takes out the axis of a weld view data and is stored in " synchronous DRAM " that is associated with it from " image buffer storage ", and it is carried out the position while welding feature point extraction handle (as shown in figure 15), data storage is in " ROM (read-only memory) ".Simultaneously, the DSP butt welded seam view data in the smart camera is demarcated processing, determines the side-play amount of the welding gun phase butt welded seam of current images acquired position correspondence, sends the welding gun side-play amount to motion control unit by the CAN Bus interface at last.

Wherein, calibration principle figure as shown in Figure 6, process is as follows:

Optical plane uniformly-spaced is divided into rectangular node by certain density, and each grid vertex is the unique point of prior demarcation, has in as the plane and the corresponding grid of optical plane, because lens distortion, these grids become irregular quadrilateral; By carrying out a series of accurate experiment measurings, can obtain image coordinate (u, the v) pairing optical plane physical coordinates (x on irregular grid summit in the picture plane w, y w, z w), obtain corresponding relation database table; The weld bead feature points information that obtains for above-mentioned Flame Image Process, be any to be calibrated some P (u in the picture plane, v), can go out its physical coordinates, obtain the three-dimensional coordinate P (x of actual welds point by the little quadrilateral mesh interpolation calculation of surrounding this point to be calibrated in the above-mentioned related table of having set up w, y w, z w).

Before system starts working, need carry out Zero calibration by accurate measurement, promptly demarcate certain any physics corresponding relation on the null position topworks of regulation and picture plane.Because smart camera is fixed on topworks and welding gun, therefore, can will correspond on the welding gun physical location as certain some position on the plane by this corresponding relation.

Then, the DSP2812 motion controller in the motion control unit carries out filtering, the match of pursuit path and calculates the planning of trace point and movement instruction in real time according to above-mentioned welding gun side-play amount;

The amount that kinematic axis topworks implements control is the rectification side-play amount that current welding gun need be followed the tracks of compensating motion, be that welding gun advances to the correct amount that next position is needing perpendicular to bead direction from a position, and processing result image embodies is to obtain image to be fixed in the welding gun in the kinematic axis topworks and the relative displacement of weld seam constantly, be not the motion control correct amount of above-mentioned needs, so must carry out motion planning to the result of image acquisition and processing unit gained.

Before motion planning,, need earlier the pursuit path data to be carried out filtering, match and calculated trace point in real time in order to guarantee motion stabilization.

The DSP motion controller adopts the welding gun offset information of collection of timer interrupt mode reading images and processing unit, and the timing beat is designed to 10 milliseconds;

Apparent distance scope is (in Fig. 8 before the DSP motion controller pursuit path filtration module (as shown in Figure 5), laser stripe 5 and the vertical range D of welding gun 9 between the projection on the workpiece) the welding gun offset information that obtains is as the filtering input information, filtering parameter (as intermediate value or mean filter algorithm and 3 or 5 filtering parameters) by host computer (being upper-layer parameters setting and control module) transmission carries out the selection of algorithm and parameter, the length of 2 times of forward sight distances as filter window is set, finish filtering and calculate, output is through the welding gun side-play amount after the filtering.

The output quantity of pursuit path fitting module (as shown in Figure 5) is as input, fitting parameter by host computer transmission carries out the selection of approximating method (as least square or cubic spline match) and match window size (as parameter setting or forward sight apart from the multiple setting), finish The Fitting Calculation, and the division that the line segment after the match is controlled the welding gun side-play amount according to the time beat synchronous with gathering beat is calculated in real time.

Tracking trajectory planning module (as shown in Figure 5) with the output quantity after the The Fitting Calculation as input, calculate the rectification side-play amount that current welding gun need be followed the tracks of compensating motion by leading deviation calculation method, and carry out movement instruction planning according to the control beat of 10 milliseconds of predetermined multiples.Leading deviation calculation method schematic diagram as shown in figure 16, detailed process is as follows:

Because camera is positioned at the place ahead of welding gun, so the tracking lag of welding gun butt welded seam is in image processing process, the picture number that begins to handle the real-time follow-up to welding gun from camera collection first width of cloth image, it is the picture number of gathering in the forward sight distance range, can adopt following formula to calculating, as shown in figure 16, be the deviation synoptic diagram of weld seam and welding gun.

M = L v · t p - - - ( 1 )

In the formula: M is for handling picture number; L is a distance between welding gun and the camera, i.e. the forward sight distance; V is a speed of welding; t pFor handling the frame weld image time.

The meaning of following formula: because welding gun just begins to carry out real-time follow-up after will arriving the camera initial position, promptly pass through the length L of forward sight distance, so at first calculate from the welding gun begin column and go to welding gun arrival camera initial position required time (L/v), handle the used time t of a two field picture with this time divided by smart camera again p, i.e. (L/ (vt p)), obtain the processing picture number (M) before welding gun begins real-time follow-up.

In actual applications, what the utility model was concerned about is that welding gun advances to the correct amount that next position needs in the horizontal direction from a position, and the processing result image embodiment is the relative position that obtains this moment welding gun of image and weld seam, be not the correct amount that the utility model needs, so must the result of Flame Image Process gained be adjusted.The welding gun of the processing result image of position if " n " and the distance Dist of weld seam center nExpression, from the position " n-1 " to the position horizontal direction correction value Delta of " n " nExpression.Dist nAnd Delta nBe signed number, the Dist when the definition weld seam is positioned at the welding gun right side nAnd Delta nFor just, the Dist of correspondence when being positioned at the welding gun left side nAnd Delta nFor negative.

By starting condition as can be known, to advance to camera initial position (being made as a reset) preceding when welding gun, do not carry out the position adjustment of any horizontal direction, when arriving the camera initial position, welding gun is over against weld seam, and welding gun advances to the required horizontal level correction value (Delta of a set by the position reset 1) calculate the deviate Dist of gained before equaling 1And advance to position " 2 " horizontal direction correction value from the position set no longer is the processing result image Dist that obtains 2, must correct this result, it is as follows to correct formula:

Delta 2=Dist 2-Delta 1 (2)

" 2 " correction value of " 3 " is welding gun to the position from the position:

Delta 3=Dist 2-Delta 1-Delta 2 (3)

The rest may be inferred, from the position " n " correction value of " n+1 " is to the position:

Delta n + 1 = Dist n + 1 - Σ p = 1 n Delta p ( n + 1 ≤ M , n , p ⊆ Z ) - - - ( 4 )

Top formula is applicable to the situation of welding gun forward travel distance smaller or equal to L.

When welding gun from the position " M " (position " M " expression welding gun begins first forward sight distance and position of beginning from initial position before the real-time follow-up here) when advancing to position " M+1 ", situation changes.The camera weld image that " M+1 " locates to obtain in the position is corresponding to welding gun (being the camera center) translation Delta in the horizontal direction 1Distance, promptly this moment image horizontal reference be the horizontal ordinate of position set, rather than the horizontal ordinate of reset before this, so the welding gun correction value that " M " advances to position " M+1 " from the position is:

Delta M + 1 = Dist M + 1 - Σ p = 2 M Delta p ( p ⊆ Z ) - - - ( 5 )

The processing result image of promptly using position " M+1 " to locate deduct welding gun from the position set to the position " M " displacement sum in the horizontal direction be exactly from the position " M " to the position horizontal direction correction value of " M+1 ".

In like manner, the weld image that the position " M+2 " that obtains when welding gun in-position " 2 " is located, and obtain corresponding Dist by image processing algorithm M+2, for obtain from the position " M+1 " to the position correction value Delta of " M+2 " M+2, need be from Dist M+2Deduct from the position " 2 " to the position " M+1 " welding gun displacement sum in the horizontal direction, that is:

Delta M + 2 = Dist M + 2 - Σ p = 3 M + 1 Delta p ( p ⊆ Z ) - - - ( 6 )

So the general correction value computing formula after welding gun in-position " M " is:

Delta M + n + 1 = Dist M + n + 1 - Σ p = n + 2 M + n Delta p ( n , p ⊆ Z ) - - - ( 7 )

Above (4), (7) two formula be applicable to all places relation that welding gun and weld seam exist, be above-mentioned leading deviation calculation method.

At last, above-mentioned movement instruction is given the kinematic axis driver by the pwm signal of motion controller DSP2812 kinematic axis topworks is implemented the motion of control realization weld joint tracking.

Claims (5)

1. laser bonding weld joint tracking implement device is characterized in that comprising:
Image acquisition and processing unit, welding seam position information is handled and exported to the view data of collection laser bonding weld seam feature to this view data;
Motion control unit receives above-mentioned welding seam position information and carries out analyzing and processing, sends motion control instruction to kinematic axis topworks;
Upper-layer parameters is provided with and control module, and image acquisition and processing parameter, motion control parameter are set, and carries out communication and is connected with image acquisition and processing unit, motion control unit respectively.
2. by the described laser bonding weld joint tracking of claim 1 implement device, it is characterized in that: described image acquisition and processing unit comprise LASER Light Source, optical module and smart camera, wherein a word line laser of LASER Light Source generation reflects by welding work pieces, is gathered by smart camera through optical module.
3. by the described laser bonding weld joint tracking of claim 2 implement device, it is characterized in that: described laser source wavelength is 660nm, and power is that 50mw~100mw is adjustable.
4. by the described laser bonding weld joint tracking of claim 2 implement device, it is characterized in that: the optical filter in the described optical module can see through the light wave of wavelength 660nm.
5. by the described laser bonding weld joint tracking of claim 1 implement device, it is characterized in that: described motion control unit comprises motion controller, kinematic axis driver and kinematic axis topworks, wherein:
Motion controller is the control core with DSP, links to each other by the CAN bus with the smart camera of image acquisition and processing unit, and the positional information of its input is analyzed, calculated, and obtains the control position information of kinematic axis topworks;
The kinematic axis driver, the control position information of reception motion controller exports kinematic axis topworks to, and compensating motion is corrected in the tracking of final welding gun butt welded seam position of realizing.
CN 200920015701 2009-07-22 2009-07-22 Laser weld seam tracking device CN201514565U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200920015701 CN201514565U (en) 2009-07-22 2009-07-22 Laser weld seam tracking device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200920015701 CN201514565U (en) 2009-07-22 2009-07-22 Laser weld seam tracking device

Publications (1)

Publication Number Publication Date
CN201514565U true CN201514565U (en) 2010-06-23

Family

ID=42485976

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200920015701 CN201514565U (en) 2009-07-22 2009-07-22 Laser weld seam tracking device

Country Status (1)

Country Link
CN (1) CN201514565U (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101961819A (en) * 2009-07-22 2011-02-02 中国科学院沈阳自动化研究所 Device for realizing laser welding and seam tracking and control method thereof
CN102495639A (en) * 2011-12-02 2012-06-13 天津工业大学 Target tracking experiment device
CN103192389A (en) * 2013-04-08 2013-07-10 布法罗机器人科技(苏州)有限公司 System and method for controlling exoskeleton robot
CN103411533A (en) * 2013-08-05 2013-11-27 上海交通大学 Structured light self-adapting repeated multi-exposure method
CN103480991A (en) * 2013-09-16 2014-01-01 河北工业大学 Thin steel plate narrow welding joint online visual inspection and control device
CN104162752A (en) * 2014-08-12 2014-11-26 河北工业大学 Four-machine serial visual detection tracking device for small feature points of lap weld of thin steel plate
CN104741789A (en) * 2015-03-30 2015-07-01 中国石油天然气集团公司 Pipeline all-position laser and arc combined welding system
CN104741790A (en) * 2015-03-30 2015-07-01 中国石油天然气集团公司 Pipeline all-position laser and arc combined welding system
CN106514068A (en) * 2016-11-15 2017-03-22 成都陵川特种工业有限责任公司 Control method of robot intelligent welding
CN106826012A (en) * 2017-01-18 2017-06-13 浙江鑫桦钢管有限公司 A kind of welding equipment of heat homing
CN108067714A (en) * 2017-11-30 2018-05-25 清华大学 A kind of thin-walled circumferential weld termination quality on-line monitoring and defect positioning system and method

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101961819A (en) * 2009-07-22 2011-02-02 中国科学院沈阳自动化研究所 Device for realizing laser welding and seam tracking and control method thereof
CN101961819B (en) * 2009-07-22 2013-10-30 中国科学院沈阳自动化研究所 Device for realizing laser welding and seam tracking and control method thereof
CN102495639A (en) * 2011-12-02 2012-06-13 天津工业大学 Target tracking experiment device
CN103192389A (en) * 2013-04-08 2013-07-10 布法罗机器人科技(苏州)有限公司 System and method for controlling exoskeleton robot
CN103192389B (en) * 2013-04-08 2015-08-26 布法罗机器人科技(苏州)有限公司 A kind of exoskeleton robot control system and method
CN103411533B (en) * 2013-08-05 2015-10-14 上海交通大学 Structured light self-adaptation multiexposure method
CN103411533A (en) * 2013-08-05 2013-11-27 上海交通大学 Structured light self-adapting repeated multi-exposure method
CN103480991A (en) * 2013-09-16 2014-01-01 河北工业大学 Thin steel plate narrow welding joint online visual inspection and control device
CN104162752A (en) * 2014-08-12 2014-11-26 河北工业大学 Four-machine serial visual detection tracking device for small feature points of lap weld of thin steel plate
CN104162752B (en) * 2014-08-12 2016-02-03 河北工业大学 Sheet metal lap weld little characteristic point four head serial vision-based detection tracking means
CN104741789A (en) * 2015-03-30 2015-07-01 中国石油天然气集团公司 Pipeline all-position laser and arc combined welding system
CN104741790A (en) * 2015-03-30 2015-07-01 中国石油天然气集团公司 Pipeline all-position laser and arc combined welding system
CN106514068A (en) * 2016-11-15 2017-03-22 成都陵川特种工业有限责任公司 Control method of robot intelligent welding
CN106826012A (en) * 2017-01-18 2017-06-13 浙江鑫桦钢管有限公司 A kind of welding equipment of heat homing
CN108067714A (en) * 2017-11-30 2018-05-25 清华大学 A kind of thin-walled circumferential weld termination quality on-line monitoring and defect positioning system and method

Similar Documents

Publication Publication Date Title
EP3011362B1 (en) Systems and methods for tracking location of movable target object
CN104588838B (en) A kind of automatic tracing control of welding gun on-line amending system and control method thereof
Lapierre et al. Combined path-following and obstacle avoidance control of a wheeled robot
CN101486124B (en) Multi-structured light binocular composite vision weld joint tracking method and device
CN1289252C (en) Method for autonomous tracking welding line
US4969108A (en) Vision seam tracking method and apparatus for a manipulator
CA1331796C (en) Automatic seam tracker and real time error cumulative control system for an industrial robot
CN105562973B (en) A kind of laser identification axle robot space curve welding system of weld seam 8 and method
CN102424971B (en) Rapid laser repair method and device for defect of aluminum alloy guide blade
Suh et al. A framework for an intelligent CNC and data model
CN105329238B (en) A kind of autonomous driving vehicle lane-change control method based on monocular vision
Martinova et al. The Russian multi-functional CNC system AxiOMA control: Practical aspects of application
CN102303190B (en) Method for visually tracking plane abut-jointed weld beam by linear laser
EP1602456A2 (en) Method and device for controlling manipulators
CN104067781B (en) Based on virtual robot and integrated picker system and the method for real machine people
CN106392267B (en) A kind of real-time welding seam tracking method of six degree of freedom welding robot line laser
EP1424613A1 (en) method and device for machining a workpiece
CN101976079B (en) Intelligent navigation control system and method
CN101623867B (en) Device and method for making robot track given route at high accuracy
CN104057202B (en) Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA
CN101614445B (en) Method for improving accuracy of control of automatic sun track following of heliostat
CN103934571A (en) Thick plate robot welding system and multilayer multiple-pass weld real-time tracking and planning method
US7899618B2 (en) Optical laser guidance system and method
US7710060B2 (en) Method for managing systems provided with redundant actuators
CN104942404A (en) Dual-wavelength binocular vision seam tracking method and tracking system

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100623

Termination date: 20130722