CN109175832A - A kind of 3D welding positioning system and its control method based on monocular - Google Patents
A kind of 3D welding positioning system and its control method based on monocular Download PDFInfo
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- CN109175832A CN109175832A CN201811099968.9A CN201811099968A CN109175832A CN 109175832 A CN109175832 A CN 109175832A CN 201811099968 A CN201811099968 A CN 201811099968A CN 109175832 A CN109175832 A CN 109175832A
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- monocular
- capillary
- solder joint
- camera
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention proposes a kind of, and the 3D based on monocular welds positioning system, mechanical arm and fixed IMU sensor, monocular-camera and control device on the robotic arm；IMU sensor is fixed with monocular-camera；Monocular-camera is used to acquire the moving distance of the distance between capillary and solder joint and capillary；Control device and mechanical arm are electrically connected to control the motion state of mechanical arm；Control device is connect with IMU sensor and monocular-camera signal respectively.The present invention is positioned by the 3D that monocular technology and IMU multiframe localization method realize mechanical arm, can accurately obtain the relative position information of capillary and solder joint, solves the problems, such as that welding positioning accuracy is low in the prior art.The control method for the 3D welding positioning system based on monocular that the invention also provides a kind of.
Description
Technical field
The invention belongs to industrial production technology field more particularly to it is a kind of based on monocular 3D welding positioning system and
Its control method.
Background technique
Shipping industry is not only play an important role in civilian industry, and it is military industry in also take up it is important
Status.The industry chain (supply chain) of shipping industry is very long, and industrial chain direct correlation degree is very high, and each link is particularly significant.
With the continuous development of science and technology, market competition is increasingly fierce, improves the productivity of welding production, guarantees product quality, realizes
The automation of welding production, the intelligent attention increasingly by welding production enterprise.
However what the welding of the large-sized structural parts of China's shipping industry at present was manually carried out, it is not only time-consuming in this way to take
Power, and the precision welded not can guarantee with reliability yet.
Summary of the invention
The purpose of the present invention is to provide a kind of 3D in monocular to weld positioning system and its control method, utilizes
IMU sensor and monocular-camera realize 3D positioning, accurately obtain the relative position information of capillary and solder joint, solve the prior art
The low problem of middle welding positioning accuracy.To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of 3D welding positioning system based on monocular, comprising: mechanical arm and the IMU being fixed on the mechanical arm
Sensor, monocular-camera and control device；
Wherein, capillary is set on the mechanical arm；The IMU sensor is fixed with the monocular-camera；
The monocular-camera is used to acquire the moving distance of the distance between capillary and solder joint and capillary；
The control device and the mechanical arm are electrically connected to control the motion state of mechanical arm；The control device point
It is not connect with the IMU sensor and monocular-camera signal；The control device receives the signal of IMU sensor and monocular is taken the photograph
After the signal of camera, the distance between capillary and solder joint are calculated, finally makees the distance between capillary and solder joint and setting value
Compare.
Preferably, the angle information includes the angle of the angle of solder joint, the angle of first position and the second position；It is described
Capillary is moved to the second position by first position；The solder joint, first position and the second position join end to end forming position triangle
Shape；
The angle of the solder joint be solder joint and capillary, the second position line between the angle that is formed；The first position
Angle be first position and solder joint, the second position line between the angle that is formed；The second position is that angle is second
Position and solder joint, first position line between the angle that is formed；
Preferably, the IMU sensor remains unchanged at a distance from the working end of the capillary.
The control method for the 3D welding positioning system based on monocular that the invention also provides a kind of, which is characterized in that
The following steps are included:
Step A, mechanical arm is moved at solder joint；
Step B drives mechanical arm, IMU sensor and monocular-camera by control device；
Step C, IMU sensor and monocular-camera transmit signals to control device respectively；
Step D, control device judge whether the distance between capillary and solder joint are less than setting value；If not, repeating step
C；Otherwise, control device driving mechanical arm is welded.
Preferably, in step C, the signal include capillary at a distance from monocular-camera, the moving distance of capillary and
Angle information.
Compared with prior art, advantages of the present invention are as follows: the present invention is realized by monocular technology and IMU localization method
The 3D positioning of welded type mechanical arm, can accurately obtain the location information of capillary and solder joint, solve welding positioning in the prior art
The low problem of precision.In addition, the present invention has the characteristics that control is simple, reliable, at low cost, reaction is quick.Monocular vision measurement
Technology has higher precision and robustness compared with other measurement methods.
Detailed description of the invention
Fig. 1 is that the 3D based on monocular of one embodiment of the invention welds the position triangle of positioning system.
Fig. 2 is the architecture diagram that the 3D based on monocular of one embodiment of the invention welds the control method of positioning system.
Wherein, 1- solder joint, the first position 2-, the second position 3-, 4- capillary.
Specific embodiment
Below in conjunction with schematic diagram to it is of the invention based on monocular 3D welding positioning system and its control method into
Row more detailed description, which show the preferred embodiment of the present invention, it should be appreciated that those skilled in the art can modify
The present invention of this description, and still realize advantageous effects of the invention.Therefore, following description should be understood as this field
Technical staff's is widely known, and is not intended as limitation of the present invention.
In the present embodiment, a kind of 3D welding positioning system based on monocular is proposed, comprising: mechanical arm and fixation
IMU sensor, monocular-camera and control device on the robotic arm；Wherein, capillary is set on the mechanical arm；IMU sensing
Device is fixed with monocular-camera；Monocular-camera is used to acquire the moving distance of the distance between capillary 4 and solder joint 1 and capillary 4；
Control device and mechanical arm are electrically connected to control the motion state of mechanical arm；Control device respectively with IMU sensor and monocular
Camera signal connection；After control device receives the signal of IMU sensor and the signal of monocular-camera, 4 He of capillary is calculated
The distance between solder joint 1 finally makes comparisons the distance between capillary 4 and solder joint 1 with setting value.
In the present embodiment, angle information includes the angle of the angle of solder joint 1, the angle of first position 2 and the second position 3
Degree；Capillary 4 is moved to the second position 3 by first position 2；Solder joint 1, first position 2 and the second position 3 join end to end forming position
Triangle；The angle of solder joint 1 be solder joint 1 and capillary 4, the second position 3 line between the angle that is formed；The angle of first position 2
Degree be first position 2 and solder joint 1, the second position 3 line between the angle that is formed；The second position 3 is that angle is the second position 3
With solder joint 1, first position 2 line between the angle that is formed；Wherein, first position 2, the second position 3 respectively refer to monocular camera shooting
Position before machine and IMU sensor are mobile, after movement.
In the present embodiment, IMU sensor remains unchanged at a distance from the working end of capillary 4.
As shown in Figure 1, the model of binding site triangle, to further illustrate that controller receives IMU sensor and monocular
Working principle after the signal of video camera.Wherein, the modeling conditions of the model are as follows: the phase of IMU sensor and the working end of capillary 4
Position is remained unchanged, the relative position of the working end of video camera and capillary 4 remains unchanged, mechanical arm in moving process not by
Such environmental effects, the position consistency of the position of IMU sensor and camera, the operational model in controller are as follows:
Wherein, L1=camera is at a distance from 4 working end of capillary；The distance that L2=solder joint moves within the time；θ i=benefit
The all angles information obtained with IMU sensor；4 working end of S=capillary is at a distance from solder joint.In the present embodiment, it can obtain
For camera with 4 working end distance L1 of capillary, the distance that the working end of capillary is moved within the time is L2, is passed using IMU
All angles information θ 1, θ 2 and the θ 3 that sensor obtains, by controller can obtain it is mobile after 4 working end of capillary and solder joint 1 away from
From S.
As shown in Fig. 2, the present embodiment has also gone out a kind of control method of 3D welding positioning system based on monocular, packet
Include following steps:
Step A is moved to mechanical arm at solder joint 1；
Step B drives mechanical arm, IMU sensor and monocular-camera by control device；
Step C, IMU sensor and monocular-camera transmit signals to control device respectively；
Step D, control device judge whether the distance between capillary and solder joint 1 are less than setting value；If not, repeating step
C；Otherwise, control device driving mechanical arm is welded.
Further, in step C, signal include capillary 4 at a distance from monocular-camera, the moving distance of capillary 4 and
Angle information.
The operation principle of the present invention is that: monocular technology and IMU multiframe localization method are applied to ship and led to by the present invention
When being welded with structural member in the 3D position fixing process of welding arm.IMU sensor and monocular-camera during the motion, successively
Acquisition multiframe information, controller receives the multiframe information that IMU sensor and monocular-camera obtain, and then determines that solder joint 1 is quasi-
True spatial coordinate location information, controller according to the distance between angle information, capillary 4 and solder joint 1, capillary 4 movement away from
From after calculating the relative distance between capillary 4 and solder joint 1, controller is further by relative distance and pre-set error
Value comparison, to determine whether the position precision for reaching welding.
To sum up, it is provided in 3D welding positioning system and its control method based on monocular in the embodiment of the present invention, this
Invention is positioned by the 3D that monocular technology and IMU multiframe localization method realize welded type mechanical arm, can accurately obtain weldering
The relative position information of needle and solder joint solves the problems, such as that welding positioning accuracy is low in the prior art.In addition, the present invention has control
Simply, reliably, it is at low cost, reaction it is quick the features such as.Monocular vision measuring technique has more high-precision compared with other measurement methods
Degree and robustness.
The above is only a preferred embodiment of the present invention, does not play the role of any restrictions to the present invention.Belonging to any
Those skilled in the art, in the range of not departing from technical solution of the present invention, to the invention discloses technical solution and
Technology contents make the variation such as any type of equivalent replacement or modification, belong to the content without departing from technical solution of the present invention, still
Within belonging to the scope of protection of the present invention.
Claims (5)
1. a kind of 3D based on monocular welds positioning system characterized by comprising mechanical arm and be fixed on the machinery
IMU sensor, monocular-camera and control device on arm；
Capillary is set on the mechanical arm；
The IMU sensor is fixed with the monocular-camera；
The monocular-camera is used to acquire the moving distance of the distance between capillary and solder joint and capillary；
The control device and the mechanical arm are electrically connected to control the motion state of mechanical arm；The control device respectively with
The IMU sensor is connected with monocular-camera signal；The control device receives the signal and monocular-camera of IMU sensor
Signal after, calculate the distance between capillary and solder joint, finally the distance between capillary and solder joint made comparisons with setting value.
2. the 3D according to claim 1 based on monocular welds positioning system, which is characterized in that the angle information
The angle of angle, first position including solder joint and the angle of the second position；The capillary is moved to second by first position
It sets；The solder joint, first position and the second position join end to end forming position triangle；
The angle of the solder joint be solder joint and capillary, the second position line between the angle that is formed；The angle of the first position
Degree be first position and solder joint, the second position line between the angle that is formed；The second position is that angle is the second position
With solder joint, first position line between the angle that is formed.
3. the 3D according to claim 1 based on monocular welds positioning system, which is characterized in that the IMU sensing
Device remains unchanged at a distance from the working end of the capillary.
4. a kind of described in any item 3D based on monocular such as claims 1 to 3 weld the control method of positioning systems,
Characterized by comprising the following steps:
Step A, mechanical arm is moved at solder joint；
Step B drives mechanical arm, IMU sensor and monocular-camera by control device；
Step C, IMU sensor and monocular-camera transmit signals to control device respectively；
Step D, control device judge whether the distance between capillary and solder joint are less than setting value；If not, repeating step C；It is no
Then, control device driving mechanical arm is welded.
5. the control method of the 3D welding positioning system according to claim 4 based on monocular, which is characterized in that
In step C, the signal includes capillary at a distance from monocular-camera, the moving distance of capillary and angle information.
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| CN201811099968.9A CN109175832B (en) | 2018-09-20 | 2018-09-20 | Control method of 3D welding positioning system based on monocular measurement |
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| CN201811099968.9A CN109175832B (en) | 2018-09-20 | 2018-09-20 | Control method of 3D welding positioning system based on monocular measurement |
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| CN109175832B CN109175832B (en) | 2020-11-10 |
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