WO2020010844A1

WO2020010844A1 - Laser-tracking-based welding system

Info

Publication number: WO2020010844A1
Application number: PCT/CN2019/075018
Authority: WO
Inventors: 何江龙
Original assignee: 成都熊谷加世电器有限公司
Priority date: 2018-07-11
Filing date: 2019-02-14
Publication date: 2020-01-16
Also published as: CN108817616B; CN108817616A

Abstract

A laser-tracking-based welding system, comprising a welding carriage capable of walking and welding and a welding seam tracking unit; the welding seam tracking unit, comprising a laser sensor head and a laser control box, may detect and identify welding seams of workpieces to be welded and provide detection parameter values of the welding seams; a welding adjusting unit is arranged in the welding carriage so as to adjust the welding position and the height of a welding gun at the current point to be welded according to the detection parameter value of the welding seam tracking unit. In the welding system, according to the real-time monitoring ahead of time and real-time calculation of the tracking unit, the deviation amounts of the height and the horizontal direction of the welding gun are obtained, the corresponding adjustment is carried out on the welding carriage, the welding gun is always kept at the center of a welding seam and at an appropriate upper position and a lower position, and welding application based on laser tracking is realized.

Description

Welding system based on laser tracking

Technical field

The invention relates to the field of welding technology, in particular to a welding system based on laser tracking.

Background technique

At present, in welding applications, the semi-automatic manual welding process has gradually been transformed into an automatic welding process, a fully automatic welding process, or an intelligent welding process. The tracking methods used by each process are also different. The two types of tracking most studied at home and abroad are arcs. (Sensor) tracking, laser (sensor) tracking.

Arc tracking is a sensor that utilizes the characteristics of the welding arc. It does not require any additional equipment on the welding torch. It can control the program algorithm by collecting the characteristics of the arc to achieve real-time and stable welding tracking.

However, there are also many shortcomings of arc tracking. For example, it is difficult to track butt joints and lap joints of thin plates. Due to the influence of foreign intellectual property rights, it is impossible to open the underlying interface, which limits the progress and application scope of domestic arc sensor independent research and development; The processing of the arc sensor signal is also one of the difficult points, because the arc welding process has many unfavorable factors for signal acquisition and processing, such as the interference of short-circuit current, the interference of liquid metal fluctuations or flow in the molten pool. These unfavorable factors have caused the welding current to be a non-stationary signal composed of long-term low-frequency components and short-time high-frequency components; the choice of control method, traditional PID control has been unable to meet the complex, nonlinear welding process, and adaptive intelligent control is used. It is a better solution, but it will encounter problems such as large amount of calculation, and it is not easy to implement real-time control.

Laser (sensor) tracking uses industrial CCD cameras to obtain the relative positions of weldments and welds, as well as relevant information of bevels and molten pools, through image processing. The advantage is that a large amount of weld information can be obtained, high control accuracy and good reproducibility. Based on the many advantages of laser tracking, it can be used in fully automatic welding equipment to achieve more precise control and more perfect welding seams.

To achieve a qualified weld, laser sensor technology must rely on a reliable welding power source. The welding power supply includes various parameters, such as arc voltage, welding current, welding speed, swing parameters, heat input, etc., and is also related to the preheating temperature of the workpiece before welding. It can realize the real-time automatic adjustment of the parameters of the welding power source according to the tracking effect to achieve qualified welding seams.

Summary of the invention

The purpose of the present invention is to provide a welding system based on laser tracking, which uses laser welding seam tracking technology to be applied to welding equipment to ensure higher welding seam quality and welding productivity.

In order to achieve the above objective, the present invention provides the following technical solutions:

The invention provides a welding system based on laser tracking, which includes a welding trolley and a welding seam tracking unit capable of walking and welding;

The welding seam tracking unit includes a laser sensor head and a laser control box, which can detect and identify the welding seam of the workpiece to be welded and provide the welding seam detection parameter values; the laser sensor head includes a laser sensor and a camera, which can capture image detection containing laser marks Signal to identify the direction and deviation of the welding seam extension and the height of the welding seam in advance; the laser control box can receive the image detection signal of the laser sensor head, and calculate the current detection parameter value of the welding point to be welded based on the image detection signal. The detection parameter value includes The left and right deviation of the weld in the walking direction of the welding carriage and the height deviation of the weld;

The welding carriage has a built-in welding adjustment unit to adjust the welding position and welding gun height at the current welding point according to the detection parameter values of the welding seam tracking unit. The welding adjustment unit includes a carriage controller, a welding power source and a welding gun. The welding gun can be adjusted according to the carriage controller. Command to adjust the swing center and height; the trolley controller receives the current detection parameter value at the welding point to be welded, reads the current swing center of the welding gun, and compares the left and right deviation of the weld with the current swing center of the welding gun. Obtain the left and right offset adjustment value, and then output and execute the swing center adjustment instruction to realize the welding position adjustment of the welding torch at the current welding point; the trolley controller calculates the deviation of the welding seam height at the current welding point with the real-time height of the welding gun. To obtain the height offset adjustment value, and then output and execute the height adjustment instruction to achieve the welding gun height adjustment at the current welding point.

The welding trolley is provided with a cross slide, and the cross slide is provided with a welding gun and a laser sensor head, and the laser sensor head is located in front of the welding gun.

As an option, the welding position adjustment process of the welding adjustment unit is as follows:

Initialize the parameter variables of the welding position. The parameter variables include the left and right deviation of the weld, the position of the swing center of the welding gun, the adjustment of the swing center, the pitch of the swing motor, and the gear ratio of the swing motor.

Read the current swing center position of the welding torch and store the swing center position amount;

Receive the left and right deviation of the weld;

Judge left and right adjustment direction: Define the left and right deviation is negative when the current to-be-welded point is on the left in the walking direction, and the positive left-and-right deviation is positive when the current to-be-welded point is on the right in the walking direction; analyze the left-to-right deviation, if the left-to-right deviation is Positive shifts to the right, and shifts to the left if left and right deviations are negative;

Calculate the swing center adjustment amount according to the parameter variable;

Control the swing center to make adjustments.

As an option, the content of the welding gun height adjustment process is as follows:

Initialize each parameter variable of height position, including height deviation, height adjustment, height motor pitch, height motor gear ratio and height position;

Read the height position of the current welding gun in real time, and store the height position variable;

Read the height deviation of the welding torch;

Judging the direction of height adjustment, where the amount of height deviation has a positive and negative number, and it is defined that the height deviation amount is positive when the height of the current welding point in the height direction is lower than the preset height, otherwise it is negative;

Calculate the height adjustment amount according to the parameter variable;

Perform height position adjustment.

Compared with the prior art, the present invention has the following advantages:

According to the real-time advance monitoring and real-time calculation of the tracking unit, the present invention obtains the deviation between the height and the horizontal direction of the welding torch, and the welding trolley makes corresponding adjustments so that the welding torch is always maintained at the center of the welding seam and the appropriate upper and lower positions Achieve welding applications based on laser tracking.

The technical solutions of the present invention will be described in further detail below with reference to the drawings and embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a system block diagram of an embodiment of the present invention;

2 is a processing flowchart according to an embodiment of the present invention;

3 is a schematic diagram of a positional relationship between a sensor head and a welding gun according to an embodiment of the present invention;

4 is a schematic diagram of a sensor head working in a horizontal direction according to an embodiment of the present invention;

5 is a diagram illustrating an example of a welding position adjustment process according to an embodiment of the present invention;

6 is a diagram illustrating an example of a welding gun adjustment process according to an embodiment of the present invention;

FIG. 7 is a working schematic diagram of a sensor head in a height direction according to an embodiment of the present invention.

detailed description

The following describes embodiments of the present invention with reference to the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

The laser welding seam tracking system is a non-contact welding seam tracking system specially used for welding machines. It overcomes the defects inherent in mechanical probe systems that cannot handle thin workpieces or small gaps. The laser sensor is installed in front of the welding gun to track The system will control the position of the welding gun to ensure the centering of the welding wire based on the weld deviation detected by the sensor.

The invention provides a welding system based on laser tracking, which includes a welding trolley and a welding seam tracking unit capable of walking and welding. The welding seam tracking unit includes a laser sensor head and a laser control box, and can detect and identify the workpiece to be welded. Welding seam and provide the welding seam detection parameter value; laser sensor head includes laser sensor and camera (can carry out preliminary algorithm processing on the image), can capture image detection signals containing laser marks, identify the direction and deviation of the welding seam extension in advance And the height of the welding seam; the laser control box can receive the image detection signal of the laser sensor head, and calculate the detection parameter value of the current to-be-welded point based on the image detection signal (the image processing layer is processed by algorithm). The detection parameter value includes the welding seam during welding The amount of left and right deviation in the walking direction of the trolley and the height deviation of the weld (compared with the preset height to get the height deviation); the welding trolley has a built-in welding adjustment unit to adjust the current waiting time according to the detection parameter value of the weld tracking unit. Welding position and welding gun height at welding point; welding adjustment unit includes trolley control Welding power source and welding torch, the welding torch can adjust the swing center and height according to the instructions of the trolley controller; the trolley controller receives the current detection parameter value at the welding point to be welded, and reads the current swing center amount of the welding torch to deviate the left and right deviations of the welding seam. The amount is compared with the current swing center of the welding gun to obtain the left and right offset adjustment value, and then the execution of the swing center adjustment instruction is output to realize the welding position adjustment of the welding gun at the current welding point; the trolley controller The height deviation of the weld seam is compared with the real-time height of the welding gun to obtain the height offset adjustment value, and then the execution height adjustment instruction is output to realize the adjustment of the welding gun height at the current welding point. See Figure 2 for its processing flow.

The present invention will be described in detail below.

As shown in FIG. 1, the system of the present invention mainly includes a laser sensor head, a laser control box, a welding trolley (including a welding gun), a welding manual control box, a welding power source and a water tank. The details are as follows:

The laser sensor head includes a laser sensor and a camera (camera module), which combines a high-resolution megapixel camera, while the laser sensor includes a emitting laser source and a controller (CPU), a unique automatic laser control and a special optical system to ensure The high quality and stability of the generated laser fringe image of the weld seam are achieved. Its internal configuration of high-speed digital image processing hardware and software ensures high-speed image processing and weld tracking.

The laser control box includes hardware control board, power control board, interface circuit, color touch screen display and other components. Simple installation and setting, simple operation and an operating interface that provides rapid diagnosis are carefully designed.

Welding trolley includes trolley control board, drive board, cross slide, motor and other components. The welding manual control box provides various operations in welding. The welding torch provides wire feed path and water cooling path. The welding power source provides welding arc energy to ensure stable arc combustion. And the welding process went smoothly and a good welded joint was obtained.

The cooling water tank is responsible for the cooling of the sensor probes, ensuring that the sensors work within the normal temperature range and increasing the service life of the system.

The overall implementation idea of the present invention will be described below.

First, according to the installation position of the laser sensor module, the position is ahead of the welding gun position, and the welding seam is identified in advance by laser, including the width and height of the welding seam.

Secondly, during the welding process, data is exchanged between the tracking module and the welding cart, including the up and down, left and right offsets.

Then, when the sensor (laser sensor) of the tracking module detects the height change, the sensor CPU and the laser control box calculate the deviation amount through the algorithm, and then transmit the deviation amount to the welding cart, and the welding cart control unit compares it with the real-time height ratio of the welding gun. For calculating the height offset, determine the direction and magnitude of the change. Keep the torch height in place at all times.

Finally, after the laser sensor detects a change in the horizontal direction, the left and right deviations are calculated by the algorithm and transferred to the welding cart. The welding cart can read the current swing center of the welding gun in real time. When there is a deviation, the welding cart swings the welding gun. The center value is adjusted accordingly, so that the welding gun is always maintained at the center of the weld.

The following will further explain the situation of the laser sensor head under normal installation and use conditions and the situation of welding reference points, according to the output of the laser sensor, welding position and welding gun parameters for adaptive application.

As shown in Figure 3, the welding torch is installed on the cross slide of the welding trolley, and the sensor head is installed at the front of the welding torch. Before welding, you need to operate the welding hand control box (with a laser hand control operation) to successfully analyze the weld. Then set the reference point to ensure effective automatic tracking. Because the sensor laser is at point B and the welding torch is at point A. For welding accuracy, the arcing point of the welding torch should be at point B. Therefore, the delay time of the AB segment must be calculated and stored in the control system. Start arc; given the distance between AB is L and the walking speed is V, the delay time

Similarly, when the welding is finished, the laser sensor will end the welding seam recognition in advance and wait for the welding gun to weld to the end position.

In the laser sensor head, the camera is located in front of the laser sensor. The laser sensor projects a laser line and forms a laser stripe at the current point to be welded, and the laser stripe is perpendicular to the walking direction to form the left and right deviation detection of the current point to be welded. model.

Furthermore, the laser control box calculates the amount of left and right deviation, the specific content is as follows: receiving the detection image captured by the camera; the detection image has the weld seam, laser stripes, and the current position of the welding gun, using the current position of the welding gun as a reference point to get the walking direction; identifying the current to be welded The left and right offset directions of the points, while calculating the distance between the current to-be-welded point and the walking direction, to obtain a left-to-right deviation with positive and negative numbers, where the left-to-right deviation is defined as negative when the current to-be-welded point is to the left in the walking direction. When the current welding point is on the right in the walking direction, the left-right deviation is positive.

As shown in Figure 4, on the horizontal plane of the weld, a level sensor can identify the trend of the weld. When the sensor has been tried and tested, the current position of the weld is used as the reference position. If the welding seam and the walking direction form a certain angle, the sensor can read the position in advance, transmit it to the laser controller, perform the program control algorithm, and then send the movement deviation distance to the welding cart controller, and then compare the internal real-time reading The swing center of the welding torch calculates the left and right offset and adjusts it to achieve horizontal position correction. During normal welding, it is in the position shown in Figure 4a. If the sensor detects that the weld is shifted to the right, as shown in Figure 4b, the sensor controller calculates the deviation x. If the sensor detects that the weld is shifted to the left, as shown in Figure 4c, the sensor controller calculates the deviation -x.

The following describes the welding position adjustment process based on the level sensor.

The content of the welding position adjustment process of the welding adjustment unit is as follows: initialize the parameter variables of the welding position, the left and right deviation of the weld, the swing center position of the welding gun, the swing center adjustment amount, the swing motor pitch and the swing motor gear ratio; read the current welding gun The swing center position is stored in the swing center position; the left and right deviation of the weld is received; the left and right adjustment direction is determined: the left and right deviation is defined when the current to-be-welded point in the walking direction is left, and the current to-be-weld in the walking direction is negative. When the point is on the right, the left and right deviation is positive; analyze the left and right deviation, if the left and right deviation is positive, it will shift to the right, and if the left and right deviation is negative, it will shift to the left; calculate the swing center adjustment amount (left and right deviation) according to the parameter variable Shift adjustment amount); control the swing center to make adjustments.

As shown in Figure 5, the horizontal position adjustment (left and right adjustment of welding position) sequence is only an example, and can be changed within a logically feasible range, such as the step of "reading the current swing center position of the welding gun" and the "receive welding seam "Left and right deviation" steps are interchanged and so on.

First, initialize the various parameters of the horizontal position (welding position), including the left and right deviation (left_right_difference_usr) transmitted by the laser control box, the position of the torch swing center (Osc_Center), the pitch of the torch swing motor (Pitch1), and the gear ratio of the torch swing motor (Pitch1) GearRatio1) and so on. Then, read the Osc_Center of the torch center position in real time. Next, the amount of left-right deviation is read. There is no offset according to the walking direction, as shown in Figure 4a. If there is an offset in the horizontal direction, the left and right deviation left_right_difference_usr has a value; offset to the right, as shown in Figure 4b, the left and right deviation is positive; and to the left, as shown in Figure 4c, the left and right deviation is negative value. Finally, after the swing center calculation function, the swing center adjustment is performed. Among them, the swing center adjustment amount osc_centermove =

(left_right_difference_usr * 60000) / (Pitch1 * fabsf (GearRatio1), fabs (GearRatio1) function refers to taking the absolute value function of the gear ratio of the swing motor.

As shown in Figure 7, the thick line in the sensor picture on the left is the identified weld seam. The three pictures d, e and f show three different positions of the sensor in the vertical direction. Among them, the picture d is normal. Height. In the process of sensor tracking, the ideal situation is to always maintain the height of d map or near it. Because of the inherent characteristics of the sensor, it cannot exceed a certain height range or lower than a certain height range, otherwise it cannot be tracked or needs to be converted to manual adjustment. If the normal height is exceeded, as shown in e of FIG. 6, the dry elongation increases and the current decreases. If it is lower than the normal height, as shown in f of FIG. 6, the dry elongation decreases and the current increases. Therefore, its height needs to be adjusted: After the welding cart receives the height deviation from the sensor control box, the welding cart detects the current value of the current welding gun in real time, and combines the height deviation to calculate the value that needs to be adjusted for the welding gun. And direction, and furthermore, the torch trolley controller CPU issues a command to the drive, and then drives the motor to perform the offset action. If it exceeds the maximum or minimum height that the sensor can accept, it cannot track.

The calculation of the height based on the laser sensor will be described below.

As mentioned above, in the laser sensor head, the camera is located in front of the laser sensor. The laser sensor projects a laser line and forms a laser stripe at the current point to be welded. Moreover, the camera is placed obliquely so that the camera's vision can project laser light with the laser sensor. The lines intersect to form a weld height deviation detection model.

Furthermore, the laser control box calculates the current height of the spot to be welded. The specific content is as follows: receiving the detection image captured by the camera; the detected image contains the weld seam, laser stripes, and the current position of the welding gun, and the current position of the welding gun is used as the reference point to obtain the laser stripes and reference points The distance between the laser stripe and the reference point to calculate the current height of the point to be welded, the current height of the point to be welded is the height of the weld at the current point to be welded; according to the ratio of the current height of the welding point to the preset height For the calculation, the height deviation amount is obtained. Among them, the height deviation amount has a positive and negative number, and the height deviation amount is defined as a positive number when the height of the current welding point in the height direction (vertical direction) is lower than the preset height, and a negative number otherwise; When the vision of the camera and the laser fringe of the laser sensor intersect at the current welding point, the height of the weld seam is a preset height.

As shown in Figure 6, the vertical position adjustment (welding gun height adjustment) sequence is only an example, and can be replaced within a logically feasible range, such as the step of "reading the current height position of the welding torch" and "receiving the amount of height deviation "Steps are swapped, etc.

First, initialize the parameter variables of the height position, including height deviation (Length_difference_usr), height adjustment (Length_centermove), height motor pitch (Pitch 2), height motor gear ratio (GearRatio 2), and height position (Length_Center). Then, the height position of the current welding gun is read in real time and stored in the Length_Center variable. Next, the amount of height deviation is read. If the welding torch is in the preset position, it is shown in Figure 7d. If the welding torch is higher than the preset position, as shown in FIG. 7e, the amount of height deviation is negative. If the welding torch is lower than the preset position, as shown in FIG. 7f, the height deviation amount is a positive value. Finally, after the height position calculation function, the height position adjustment is performed. Among them, the height adjustment amount of the welding torch Length_centermove = (Length_difference_usr * 60000) / (Pitch2 * fabsf (GearRatio2), the function of fabs (GearRatio2) refers to the absolute value function of the gear ratio of the height motor.

As mentioned above, during the welding process, according to the real-time advance monitoring of the tracker (sensor head and laser control box) and real-time calculation, the offsets of the height and horizontal directions of the welding gun are obtained, and the welding trolley is adjusted accordingly. It is achieved that the welding gun is always maintained at the center of the welding seam and an appropriate upper and lower position, thereby realizing the welding application based on laser tracking.

The invention adopts advanced laser sensing technology, realizes a welding application based on laser tracking, applies laser tracking technology to the welding field, and realizes an adaptive control process of welding parameters. In addition, the welding seam is beautifully formed and less manual operation, which improves the production efficiency and product qualification rate.

It should be understood that the above-mentioned embodiments and examples of the present invention are for the purpose of illustration and explanation, and thus do not limit the scope of the present invention. The scope of the invention is defined by the claims, rather than by the above-described embodiments and examples.

Claims

A welding system based on laser tracking, which is characterized by comprising a welding trolley and a welding seam tracking unit capable of walking and welding;

The welding seam tracking unit includes a laser sensor head and a laser control box, which can detect and identify the welding seam of the workpiece to be welded and provide the welding seam detection parameter values;

The laser sensor head includes a laser sensor and a camera, which can pick up image detection signals containing laser marks, identify the direction and deviation of the welding seam extension and the height of the welding seam in advance;

The laser control box can receive the image detection signal from the laser sensor head, and calculate the detection parameter value of the current welding point based on the image detection signal. The detection parameter value includes the left and right deviation of the weld in the walking direction of the welding carriage and the height deviation of the weld ;

The welding trolley has a built-in welding adjustment unit to adjust the welding position and welding gun height at the current welding point according to the detection parameter values of the welding seam tracking unit;

The welding adjustment unit includes a trolley controller, a welding power source and a welding torch. The welding torch can adjust the swing center and height according to the instructions of the trolley controller. The trolley controller receives the current detection parameter value at the welding point to be welded and reads the current swing center of the welding gun. , Compare the left and right deviation of the welding seam with the current swing center of the welding gun to obtain the left and right offset adjustment value, and then output and execute the swing center adjustment command to realize the welding position adjustment of the welding gun at the current welding point; the car controller Calculate the height deviation of the welding seam at the current welding point and the real-time height of the welding gun to obtain the height offset adjustment value, and then output and execute the height adjustment instruction to achieve the welding gun height adjustment at the current welding point.
The welding system based on laser tracking according to claim 1, characterized in that the welding trolley is provided with a cross slide table, the cross slide table is provided with a welding gun and a laser sensor head, and the laser sensor head is located in front of the welding gun .
The welding system based on laser tracking according to claim 2, characterized in that, in the laser sensor head, a camera is located in front of the laser sensor, the laser sensor projects a laser line and forms a laser stripe at a current welding point , And the laser stripes are perpendicular to the walking direction to form a left and right deviation detection model of the current welding point.
The welding system based on laser tracking according to claim 3, wherein the laser control box calculates the left and right deviation amount as follows:

Receiving the detection image captured by the camera;

The welding image, laser streaks and current position of the welding torch are detected in the image, and the current direction of the welding torch is used as the reference point to obtain the walking direction;

Identify the left and right offset direction of the current to-be-welded point, and calculate the distance between the current to-be-welded point and the walking direction at the same time, to obtain a left-to-right deviation with positive and negative numbers. Among them, define the left and right when the current to-be-welded point is on the left in the walking direction. The deviation is negative. When the current welding point is on the right in the walking direction, the deviation is positive.
The welding system based on laser tracking according to claim 1, wherein the content of the welding position adjustment process of the welding adjustment unit is as follows,

Initialize the parameter variables of the welding position. The parameter variables include the left and right deviation of the weld, the position of the swing center of the welding gun, the adjustment of the swing center, the pitch of the swing motor, and the gear ratio of the swing motor.

Read the current swing center position of the welding torch and store the swing center position amount;

Receive the left and right deviation of the weld;

Judge left and right adjustment direction: Define the left and right deviation is negative when the current to-be-welded point is on the left in the walking direction, and the positive left-and-right deviation is positive when the current to-be-welded point is on the right in the walking direction; analyze the left-to-right deviation, if the left-to-right deviation is Positive shifts to the right, and shifts to the left if left and right deviations are negative;

Calculate the swing center adjustment amount according to the parameter variable;

Control the swing center to make adjustments.
The welding system based on laser tracking according to claim 5, wherein the calculation formula of the swing center adjustment amount is as follows,

osc_centermove = (left_right_difference_usr * 60000) / (Pitch1 * fabsf (GearRatio1)) where left_right_difference_usr is the left and right deviation amount, osc_centermove is the swing center adjustment amount, Pitch1 is the swing motor pitch, GearRatio1 is the swing motor gear ratio, and Osc_Center is the swing center position The function fabs (GearRatio1) refers to the function of taking the absolute value of the gear ratio of the swing motor.
The welding system based on laser tracking according to claim 3, wherein in the laser sensor head, the camera is placed obliquely so that the vision of the camera can intersect with the laser line projected by the laser sensor to form a weld height deviation amount Detection model.
The welding system based on laser tracking according to claim 7, characterized in that the process of the laser control box calculating the height of the current welding point is as follows,

Receiving the detection image captured by the camera;

The welding image, laser fringe and current position of the welding torch are detected in the image, and the distance between the laser fringe and the reference point is obtained by using the current position of the welding torch as a reference point;

Calculate the current height of the point to be welded according to the distance between the laser stripe and the reference point, and the current height of the point to be welded is the height of the weld at the current point to be welded;

Calculate the height deviation based on the comparison between the current height of the welding point and the preset height;

Among them, the height deviation amount has a positive and negative number, and it is defined that the height deviation amount is positive when the current welding point height is lower than the preset height in the height direction, and vice versa; when the vision of the camera and the laser stripe of the laser sensor are current When the welding points intersect, the height of the weld seam is a preset height.
The welding system based on laser tracking according to claim 1, wherein the content of the welding gun height adjustment process of the welding adjustment unit is as follows,

Initialize each parameter variable of height position, including height deviation, height adjustment, height motor pitch, height motor gear ratio and height position;

Read the height position of the current welding gun in real time, and store the height position variable;

Read the height deviation of the welding torch;

Judging the direction of height adjustment, where the amount of height deviation has a positive and negative number, and it is defined that the height deviation amount is positive when the height of the current welding point in the height direction is lower than the preset height, otherwise it is negative;

Calculate the height adjustment amount according to the parameter variable;

Perform height position adjustment.
The welding system based on laser tracking according to claim 9, characterized in that the calculation formula of the height adjustment amount of the welding gun is as follows,

Length_centermove = (Length_difference_usr * 60000) / (Pitch 2 * fabsf (GearRatio2)

Among them, Length_difference_usr is the height deviation amount, Length_centermove is the height adjustment amount, Pitch2 is the height motor pitch, GearRatio2 is the height motor gear ratio, Length_Center is the height position, and the fabs (GearRatio2) function refers to the absolute value function of the height motor gear ratio.