CN111452092B - Adjusting method and system of laser tracking sensor, storage medium and welding equipment - Google Patents
Adjusting method and system of laser tracking sensor, storage medium and welding equipment Download PDFInfo
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- CN111452092B CN111452092B CN202010243799.2A CN202010243799A CN111452092B CN 111452092 B CN111452092 B CN 111452092B CN 202010243799 A CN202010243799 A CN 202010243799A CN 111452092 B CN111452092 B CN 111452092B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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Abstract
The application discloses a method and a system for adjusting a laser tracking sensor, a storage medium and welding equipment, wherein the adjusting method comprises the following steps: acquiring the radius of a welded pipeline; calculating the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline according to the working parameters and the radius of the pipeline machine; comparing the distance between the rotation center of the laser tracking sensor and the working surface of the welding pipeline with a preset value to obtain a comparison result; controlling the rotation angle of the laser tracking sensor according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor. The method disclosed by the application can be used for rapidly calculating the rotation angle and the moving distance of the laser tracking sensor, automatically controlling the movement of the laser tracking sensor and solving the problems of long consumed time and low accuracy of manual adjustment.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to an adjusting method and system of a laser tracking sensor, a storage medium and welding equipment.
Background
Along with the development of welding automation, more and more large-scale welded structures need to realize automatic welding, and the robot that crawls in the full position of no guide rail has unique competitive advantage, and the appearance of the robot that crawls in the full position of no guide rail makes the automatic welding of large-scale structure become possible.
In the actual welding process, the pipeline welding machine crawls on a pipeline, and the pipeline welding machine is also provided with a laser tracking sensor which is used for judging the position change of the central position of a welding line relative to the pipeline welding machine in real time through an image processing method in the welding process so as to achieve the purpose that a welding gun stably performs welding operation on the welding line. The laser camera and the laser tracking sensor are welded together, and in order to ensure the accuracy of information such as the width and the depth of a weld joint detected by the laser tracking sensor, the optical axis of the camera of the laser tracking sensor is required to be parallel to the normal direction of a welded surface. The existing laser tracking sensor modules adopt a manual adjustment mode to determine the adjustment of the laser tracking sensor, the adjustment process time is long, and the accuracy is not high due to the dependence on great manual experience.
Disclosure of Invention
In view of the above-mentioned defects or shortcomings in the prior art, it is desirable to provide an adjusting method, system, storage medium and welding equipment for a laser tracking sensor, which implement automatic adjustment of position adaptive pipe diameter of the laser tracking sensor, improve accuracy of adjustment, and shorten time.
In a first aspect, the present invention provides a method for adjusting a laser tracking sensor, where the laser tracking sensor is disposed on a pipe welding machine, the method including:
acquiring the radius of a welded pipeline;
calculating to obtain the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline according to the working parameters and the radius of the pipeline welding machine, wherein the working parameters comprise the distance from the symmetry center of the pipeline welding machine to the working surface of the welded pipeline and the distance from the symmetry center of the pipeline welding machine to the rotation center of the laser tracking sensor;
comparing the distance between the rotation center of the laser tracking sensor and the working surface of the welding pipeline with a preset value to obtain a comparison result;
controlling the rotation angle of the laser tracking sensor according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor.
Further, according to the working parameters and the radius of the pipeline welding machine, the steps of calculating the rotating angle of the laser tracking sensor and the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline comprise:
taking the rotation center of the laser tracking sensor, the symmetry center of a pipeline welding machine and the center of the section of a welded pipeline, establishing a right-angled triangle, and obtaining the rotation angle of the laser tracking sensor according to a trigonometric function relationship;
and obtaining the distance from the rotation center of the laser tracking sensor to the center of the section of the welded pipeline according to the pythagorean theorem, and subtracting the radius to obtain the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline.
Further, the step of controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result to realize the position adjustment of the laser tracking sensor comprises the following steps:
if the comparison result is less than the preset value, controlling the laser tracking sensor to move towards the direction far away from the working surface of the welding pipeline;
if the comparison result is greater than the preset value, controlling the laser tracking sensor to move towards the direction close to the working surface of the welding pipeline;
if the comparison is equal, the laser tracking sensor does not move relative to the face direction of the welded pipe.
Further, the preset value is the working distance of the laser tracking sensor, and the moving distance of the laser tracking sensor relative to the working surface of the welded pipeline is the absolute value of the difference between the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline and the working distance of the laser tracking sensor.
In a second aspect, the present invention provides a system for adjusting a laser tracking sensor, the system comprising:
the acquisition module is used for acquiring the radius of the welded pipeline;
the first calculation module is used for calculating and obtaining the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline according to the working parameters and the radius of the pipeline welding machine; the working parameters comprise the distance from the symmetrical center of the pipeline welding machine to the working surface of the welded pipeline and the distance from the symmetrical center of the pipeline welding machine to the rotating center of the laser tracking sensor;
the comparison module is used for comparing the distance between the rotation center of the laser tracking sensor and the working surface of the welding pipeline with a preset value to obtain a comparison result;
the control module is used for controlling the rotation angle of the laser tracking sensor according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor.
Further, the calculation performed by the first calculation module according to the working parameters and the radius of the pipe welding machine to obtain the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipe includes:
taking the rotation center of the laser tracking sensor, the symmetry center of a pipeline welding machine and the center of the section of a welded pipeline, establishing a right-angled triangle, and obtaining the rotation angle of the laser tracking sensor according to a trigonometric function relationship;
and obtaining the distance from the rotation center of the laser tracking sensor to the center of the section of the welded pipeline according to the pythagorean theorem, and subtracting the radius to obtain the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline.
Further, the control module executes to control the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor, and the method comprises the following steps:
if the comparison result is less than the preset value, controlling the laser tracking sensor to move towards the direction far away from the working surface of the welding pipeline;
if the comparison result is greater than the preset value, controlling the laser tracking sensor to move towards the direction close to the working surface of the welding pipeline;
if the comparison is equal, the laser tracking sensor does not move relative to the face direction of the welded pipe.
The device further comprises a second calculation module, wherein the second calculation module is used for calculating the moving distance of the laser tracking sensor relative to the working surface of the welded pipeline, the preset value is the working distance of the laser tracking sensor, and the moving distance is the absolute value of the difference between the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline and the working distance of the laser tracking sensor.
In a third aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program for implementing the method for adjusting a laser tracking sensor according to the first aspect.
In a fourth aspect, the invention provides a welding apparatus comprising an adjustment system of the laser tracking sensor according to the second aspect.
According to the adjusting method, the adjusting system, the storage medium and the welding equipment of the laser tracking sensor, the distance between the symmetrical center of the pipeline welding machine and the rotating center of the laser tracking sensor and the distance between the symmetrical center of the pipeline welding machine and the working surface of a welded pipeline are obtained through calculation, the distance between the rotating center of the laser tracking sensor and the center of the welded pipeline is obtained through calculation, the rotating angle required by the laser tracker is obtained, the distance between the rotating center of the laser tracking sensor and the center of the welded pipeline and the radius of the welded pipeline are calculated, and therefore the distance between the rotating center of the laser tracking sensor and the working surface of the welded pipeline is obtained. And controlling the movement distance of the laser tracking sensor in the normal direction of the section of the pipeline according to the distance between the rotation center of the laser tracking sensor and the working surface of the welded pipeline and the distance between the symmetrical center of the pipeline welding machine and the working surface of the welded pipeline. The method disclosed by the application realizes the self-adaptive adjustment of the welding pipe diameter of the laser tracking sensor, and solves the problems of long consumed time and low accuracy of manual adjustment.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method of tuning a laser tracking sensor according to one embodiment of the present application;
FIG. 2 is a schematic structural view of a pipe welder in one embodiment of the present application;
FIG. 3 is a graph of the relationship between a laser tracking sensor on a pipe welding machine and a pipe after rotation in one embodiment of the present application;
FIG. 4 is a schematic diagram of an adjustment system for a laser tracking sensor of another embodiment of the present application.
In the figure, 1, a laser tracking sensor, 2, a pipeline welding machine, 3, a welding gun and 4, a pipeline.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
When the pipeline welding machine is used for welding a pipeline, the pipeline is crawled, and the position change of the center position of the welding line relative to the pipeline welding machine is judged in real time by arranging the laser tracking sensor on the pipeline welding machine. In order to ensure the accuracy of information such as the width and depth of a weld joint detected by a laser tracking sensor, it is necessary to ensure that the optical axis of a camera of the laser tracking sensor is parallel to the normal direction of the surface of a welded pipeline, and the working distance (the distance is a fixed value and is generally 100mm) between the lower end surface of the laser camera and the working surface of a welding plane is always kept as the working distance of the laser tracking sensor.
At present, for welded pipelines with different pipe diameters, a laser tracking sensor needs to be manually adjusted to move in the pipeline axis direction and the section normal direction and rotate around the pipeline axis direction, manual operation is time-consuming and labor-consuming, and meanwhile, manual adjustment depends on experience, and adjustment accuracy is not high.
According to the adjusting method of the laser tracking sensor, the laser tracking sensor is arranged at one end of the pipeline welding machine, a welding gun of the pipeline welding machine is positioned in the middle of the pipeline welding machine, and the specific operation is as shown in figure 1:
s100, obtaining the radius of the welded pipeline;
s200, calculating to obtain the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline according to the working parameters and the radius of the pipeline welding machine, wherein the working parameters comprise the distance from the symmetry center of the pipeline welding machine to the working surface of the welded pipeline and the distance from the symmetry center of the pipeline welding machine to the rotation center of the laser tracking sensor;
s300, comparing the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline with a preset value to obtain a comparison result; the preset value is generally the working distance of the laser tracking sensor, the working distance of the laser tracking sensor is based on the fact that the collected image of the pipeline welding seam is not virtual focus, and the set installation parameters of the laser camera and the pipeline welding machine are generally fixed values, and the installation parameters are 100mm in the embodiment;
s400, controlling the rotation angle of the laser tracking sensor according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor.
It can be understood that:
the adjusting method of the laser tracking sensor can be suitable for a control system of a pipeline welding machine, and a laser camera position adjusting method with adaptive pipe diameter is arranged in the control system of the pipeline welding machine, so that the laser tracking sensor is controlled through signal transmission. For example, the control of the laser tracking sensor may be to install a telescopic arm between the pipeline welding machine and the laser tracking sensor, and the telescopic arm can realize the adjustment of the length direction and the angle direction through the motor control, thereby achieving the three degrees of freedom of controlling the laser tracking sensor to move in the direction parallel to the normal line of the pipeline and the axis direction of the pipeline and rotate around the axis direction of the pipeline, and realizing the position adjustment. Here, the control signal of the motor is from a pipe diameter adaptive laser camera position adjusting method built in a control system of the pipe welding machine.
It should be noted that:
the radius of the welded pipeline is obtained, the radius of the welded pipeline can be measured in advance according to actual working conditions, measuring equipment can be installed on a pipeline welding machine, and the radius of the welded pipeline can be measured in real time according to working conditions. For example, say: in the actual welding process, a worker knows the radius of each pipeline to be welded in advance and directly inputs the radius of the pipeline on an operation interface; and the pipeline welding machine is also provided with equipment for automatically measuring the radius of the pipeline, and the radius of the welded pipeline is directly measured in real time through the measuring equipment.
The operating parameters of the pipe welder include, but are not limited to, the distance from the center of symmetry of the pipe welder to the work surface of the welded pipe and the distance from the center of symmetry of the pipe welder to the center of rotation of the laser tracking sensor. It should be noted that, for the purpose of simplification, the center of symmetry of the pipe welding machine and the center of rotation of the laser tracking sensor may be set at a uniform height, so that the distance from the center of symmetry of the pipe welding machine to the working surface of the welded pipe is equal to the vertical distance from the center of symmetry of the pipe welding machine to the lower surface of the laser camera plus the working distance of the laser tracking sensor. According to experience and the specification of production equipment of the pipeline welding machine, when the pipeline welding machine normally works, the distance from the symmetrical center of the pipeline welding machine to the lower surface of the laser camera is certain; in addition, when the laser camera normally collects the welding plane image, the distance from the lower end surface of the lens of the laser camera to the working surface of the welding plane is recorded as the working distance of the laser tracking sensor (the distance is a fixed value and is 100mm), so that the distance from the symmetrical center of the pipeline welding machine to the working surface of the pipeline can be determined; the distance from the symmetry center of the pipe welding machine to the rotation center of the laser tracking sensor is constant when the pipe welding machine can work normally.
Further, in step S200, according to preset working parameters of the pipe welding machine and the obtained radius of the welded pipe, the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipe are calculated, and the method includes:
the method comprises the steps of taking a rotation center of a laser tracking sensor, a symmetrical center of a pipeline welding machine and a section center of a welded pipeline, establishing a right triangle, ensuring that the distance from the rotation center of the laser tracking sensor to the symmetrical center of the pipeline welding machine is constant, ensuring that the distance from the symmetrical center of the pipeline welding machine to the section center of the pipeline is constant, obtaining a rotation angle of the laser tracking sensor according to a trigonometric function relation, obtaining the distance from the rotation center of the laser tracking sensor to the section center of the pipeline according to the pythagorean theorem, and subtracting the radius of the pipeline to obtain an actually measured distance from the rotation center of the laser tracking sensor to a working surface of the welded pipeline.
The specific process is as follows:
as shown in FIGS. 2 and 3, the structural diagrams of the pipe welding machine are respectively shownAnd a relation diagram between the pipeline and the laser tracking sensor on the pipeline welding machine after rotating, wherein as can be seen from the diagram, the welding gun 3 is arranged at the central position of the pipeline welding machine 2, and the laser tracking sensor 1 is arranged at one end of the pipeline welding machine 2; in the figure, H is denoted as the distance between the center of symmetry of the pipe welding machine and the center of rotation of the laser tracking sensor; r is recorded as the radius of the pipeline welded by the pipeline welding machine; d is the symmetry center of the pipeline welding machine, DE is the distance between the symmetry center of the pipeline welding machine and the working surface of the welded pipeline, and is recorded as H0Here, it should be noted that since the working surface of the welded pipe is a curved surface, H is changed according to the radius of the welded pipe0The value of (A) is also varied, but since the welding gun of the pipe welder is in close contact with the pipe when welding the pipe, the distance H from the center of symmetry of the pipe welder to the working surface of the welded pipe is known0Much smaller than the radius of the welded pipe, where H is the same for simplicity of calculation0Considered constant; recording A as the rotation center of a laser tracking sensor on the pipeline welding machine; c is recorded as the intersection point of the optical axis of the camera in the laser tracking sensor and the working surface of the welding pipeline; b is marked as the center point of the pipeline interface. A right triangle ADB is established, and a calculation method of | AB | length can be obtained according to the pythagorean theorem, as shown in formula (1):
when the radius of the welded pipeline is different, the length of | AB | can be obtained, and similarly, according to the trigonometric function relation, under the condition that the radius of the welded pipeline is determined, the rotation angle required by the laser tracking sensor is ≈ CBE, as shown in formula (2):
the distance from the rotation center of the laser tracking sensor to the working surface of the welding pipeline is | AC |, and the formula (3) is as follows:
|AC|＝|AB|-R (3)
and obtaining the distance from the rotation center of the laser tracking sensor to the working surface of the welding pipeline.
Further, according to the rotation angle of rotation angle control laser tracking sensor, according to the distance of comparison result control laser tracking sensor looks butt welding pipeline working face, realize laser camera position control, specifically include:
if the comparison result is less than the preset value, controlling the laser tracking sensor to move towards the direction far away from the working surface of the welding pipeline;
if the comparison result is greater than the preset value, controlling the laser tracking sensor to move towards the direction close to the working surface of the welding pipeline;
if the comparison result is equal, the laser tracking sensor does not move relative to the working face direction of the welding pipeline.
Further, calculating the moving distance of the laser tracking sensor relative to the working surface of the welded pipeline, wherein the moving distance is the absolute value of the difference between the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline and the working distance of the laser tracking sensor; in order to more accurately control the movement of the laser tracking sensor in the direction parallel to the normal line of the pipeline, the distance between the laser tracking sensor and the working surface of the pipeline is accurately controlled, and the movement of the laser tracking sensor can be accurately controlled through the movement distance to realize position adjustment and determination.
In summary, according to the method for adjusting the laser tracking sensor, the rotation angle and the movement distance of the laser tracking sensor can be rapidly calculated according to the radius of the welded pipeline and the working parameters of the pipeline welding machine, and the movement of the laser tracking sensor can be automatically controlled, so that the laser tracking sensor can have two degrees of freedom in two directions relative to the pipeline welding machine, one is the degree of freedom of rotation, and the other is the degree of freedom of translation. Meanwhile, the optical axis direction of the camera is parallel to the normal direction of the welding surface of the pipeline in the moving process of the laser tracking sensor, and the distance between the lower end face of the camera lens and the welding surface of the pipeline is always kept at a fixed working distance.
As another aspect, another embodiment of the present application provides an adjustment system of a laser tracking sensor, as shown in fig. 4, including:
the acquisition module 10 is used for acquiring the radius of the welded pipeline;
the first calculation module 20 is used for calculating and obtaining the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline according to the working parameters of the pipeline welding machine and the radius of the welded pipeline;
the comparison module 30 is used for comparing the distance from the rotation center of the laser tracking sensor to the working surface of the welding pipeline with the working distance of the laser tracking sensor to obtain a comparison result;
the control module 40 is used for controlling the laser tracking sensor to move (translate and rotate) relative to the working surface of the welded pipeline to realize position adjustment according to the rotation angle obtained by the first calculation module 20 and the result obtained by the comparison module 30;
further, if the comparison result is less than the preset value, controlling the laser tracking sensor to move towards the direction far away from the working surface of the welding pipeline;
if the comparison result is greater than the preset value, controlling the laser tracking sensor to move towards the direction close to the working surface of the welding pipeline;
if the comparison result is equal, the laser tracking sensor does not move.
Preferably, the first calculating module 20 is configured to establish a right triangle according to the rotation center of the laser tracking sensor, the symmetry center of the pipeline welding machine, and the center of the pipeline cross section, obtain the rotation angle of the laser tracking sensor according to a trigonometric function relationship, obtain the distance from the rotation center of the laser tracking sensor to the center of the pipeline cross section according to the pythagorean theorem, and subtract the radius of the pipeline to obtain the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline.
In a preferred embodiment, the second calculation module 50 is further included for calculating a moving distance of the laser tracking sensor relative to the working surface of the welded pipe, where the moving distance is an absolute value of a difference between a distance from a rotation center of the laser tracking sensor to the working surface of the welded pipe and a working distance of the laser tracking sensor.
The adjusting system of the laser tracking sensor can be an adjusting system independent of a control system of the pipeline welding machine, and can also be built in the control system of the pipeline welding machine; that is, the adjusting system of the application can be directly connected with the laser tracking sensor to adjust the position; can also be as above example, laser sensor connects flexible arm, and flexible arm passes through motor control, and the adjustment system direct control motor of this application.
To achieve the above object, based on the same inventive concept, an embodiment of a third aspect of the present application provides a welding apparatus, characterized by comprising an adjustment system of the laser tracking sensor of the second aspect.
Further, the welding device comprises a data collector for collecting the radius of the welding pipeline and transmitting the radius of the welding pipeline to the processor. The data acquisition unit collects the radius of the pipeline and transmits the radius to the processor, so that the position of the laser tracking sensor can be adjusted at any time according to the radius of the pipeline in the actual welding process.
As another aspect, the present application also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the foregoing device in the foregoing embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to execute the alarm data processing method described in the present application, and specifically executes:
acquiring the radius of a welded pipeline;
calculating to obtain the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline according to the working parameters and the radius of the pipeline welding machine, wherein the working parameters comprise the distance from the symmetry center of the pipeline welding machine to the working surface of the welded pipeline and the distance from the symmetry center of the pipeline welding machine to the rotation center of the laser tracking sensor;
comparing the distance from the rotating center of the laser tracking sensor to the working surface of the welding pipeline with the working distance of the laser tracking sensor to obtain a comparison result;
controlling the rotation angle of the laser tracking sensor according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor.
According to the adjusting method and system of the laser tracking sensor, the storage medium and the welding equipment, the position of the laser tracking sensor can be automatically adjusted according to the change of the pipe diameter through the radius of the welded pipe and the working parameters of the pipe welding machine, the problems that manual adjustment is long in consumed time and low in accuracy are solved, operation is convenient, and working efficiency is improved.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. The method for adjusting the laser tracking sensor is characterized by comprising the following steps of:
acquiring the radius of a welded pipeline;
according to the working parameters of the pipeline welding machine and the radius, calculating and obtaining the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline through a trigonometric function relation, wherein the working parameters comprise the distance from the symmetry center of the pipeline welding machine to the working surface of the welded pipeline and the distance from the symmetry center of the pipeline welding machine to the rotation center of the laser tracking sensor;
comparing the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline with a preset value to obtain a comparison result, wherein the preset value is the working distance of the laser tracking sensor;
controlling the laser tracking sensor to rotate according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor.
2. The method of claim 1, wherein the step of calculating the rotation angle of the laser tracking sensor and the distance from the center of rotation of the laser tracking sensor to the work surface of the welded pipe based on the operating parameters of the pipe welding machine and the radius comprises:
taking the rotation center of the laser tracking sensor, the symmetry center of the pipeline welding machine and the center of the section of the welded pipeline, establishing a right-angled triangle, and obtaining the rotation angle of the laser tracking sensor according to a trigonometric function relationship;
and obtaining the distance from the rotating center of the laser tracking sensor to the center of the section of the welded pipeline according to the pythagorean theorem, and subtracting the radius to obtain the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline.
3. The method of claim 1, wherein controlling the laser tracking sensor to move relative to the work surface of the welded pipe based on the comparison results to effect positional adjustment of the laser tracking sensor comprises:
if the comparison result is less than the preset value, controlling the laser tracking sensor to move towards the direction away from the working surface of the welded pipeline;
if the comparison result is greater than the preset value, controlling the laser tracking sensor to move towards the direction close to the working surface of the welding pipeline;
if the comparison is equal, the laser tracking sensor does not move relative to the working face direction of the welded pipe.
4. The method of claim 1 or 3, wherein the predetermined value is a working distance of a laser tracking sensor, and the distance of movement of the laser tracking sensor relative to the working face of the welded pipe is an absolute value of a difference between a distance from a center of rotation of the laser tracking sensor to the working face of the welded pipe and the working distance of the laser tracking sensor.
5. An adjustment system for a laser tracking sensor, the system comprising:
the acquisition module is used for acquiring the radius of the welded pipeline;
the first calculation module is used for calculating the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipeline through a trigonometric function relation according to the working parameters and the radius of the pipeline welding machine; the working parameters comprise the distance from the symmetrical center of the pipeline welding machine to the working surface of the welded pipeline and the distance from the symmetrical center of the pipeline welding machine to the rotating center of the laser tracking sensor;
the comparison module is used for comparing the distance from the rotation center of the laser tracking sensor to the working surface of the welding pipeline with a preset value to obtain a comparison result, wherein the preset value is the working distance of the laser tracking sensor;
the control module is used for controlling the rotation angle of the laser tracking sensor according to the rotation angle; and controlling the laser tracking sensor to move relative to the working surface of the welding pipeline according to the comparison result, so as to realize the position adjustment of the laser tracking sensor.
6. The system of claim 5, wherein the calculation performed by the first calculation module based on the operating parameters of the pipe welding machine and the radius to obtain the rotation angle of the laser tracking sensor and the distance from the rotation center of the laser tracking sensor to the working surface of the welded pipe comprises:
taking the rotation center of the laser tracking sensor, the symmetry center of the pipeline welding machine and the center of the section of the welded pipeline, establishing a right-angled triangle, and obtaining the rotation angle of the laser tracking sensor according to a trigonometric function relationship;
and obtaining the distance from the rotating center of the laser tracking sensor to the center of the section of the welded pipeline according to the pythagorean theorem, and subtracting the radius to obtain the distance from the rotating center of the laser tracking sensor to the working surface of the welded pipeline.
7. The system of claim 5, wherein the control module executes to control the laser tracking sensor to move relative to the work surface of the welded pipe based on the comparison, to effect the positional adjustment of the laser tracking sensor, comprising:
if the comparison result is less than the preset value, controlling the laser tracking sensor to move towards the direction away from the working surface of the welded pipeline;
if the comparison result is greater than the preset value, controlling the laser tracking sensor to move towards the direction close to the working surface of the welding pipeline;
if the comparison is equal, the laser tracking sensor does not move relative to the working face direction of the welded pipe.
8. The system of claim 5, further comprising a second calculation module configured to calculate a movement distance of the laser tracking sensor relative to the working surface of the welded pipe, wherein the predetermined value is a working distance of the laser tracking sensor, and the movement distance is an absolute value of a difference between a distance from a center of rotation of the laser tracking sensor to the working surface of the welded pipe and the working distance of the laser tracking sensor.
9. A computer-readable storage medium, on which a computer program is stored, for implementing the method of adjustment of a laser tracking sensor according to any of claims 1-4.
10. Welding device, characterized in that it comprises an adjustment system of a laser tracking sensor according to any of claims 5-8.
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| CN112620925A (en) * | 2020-12-18 | 2021-04-09 | 北京博清科技有限公司 | Welding control method and system |
| CN113074632B (en) * | 2021-03-15 | 2022-08-16 | 中国第一汽车股份有限公司 | Method for accurately positioning welded pipeline |
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| CN2652577Y (en) * | 2003-04-25 | 2004-11-03 | 北京石油化工学院 | Full position walking photoelectric real time tracking pipeline welder robot |
| KR100671019B1 (en) * | 2005-06-30 | 2007-01-19 | 삼성중공업 주식회사 | Laser Vision Sensor tracking welding line |
| JP2013539541A (en) * | 2010-09-08 | 2013-10-24 | ファロ テクノロジーズ インコーポレーテッド | Laser scanner or laser tracking device having a projector |
| KR101517012B1 (en) * | 2013-05-31 | 2015-05-04 | 목포대학교산학협력단 | Portable automatic welding device equipped with auto tracking system using laser vision sensor |
| CN105312732A (en) * | 2014-07-31 | 2016-02-10 | 毛亚芬 | Automatic tracking method adopting sensors for inner weld seam in finish-welding of external spiral steel pipe |
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| CN107813085B (en) * | 2017-10-31 | 2019-05-07 | 湘潭大学 | A kind of pipe pipe welding welding-gun rotation axial rake self-adaption regulation system |
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