| 摘要 |
The present invention relates to an apparatus (100) of measuring a travel distance of a submerged arc welding system including a welding robot (10) moving along a rail to perform welding work, and a laser vision system (20) irradiating a laser onto a welding member provided at one side of the welding robot (10) and processing an image obtained by the irradiation to measure a geometric shape of the welding member. The apparatus also includes a motion vector corresponding to regional movement of the moving welding robot from plural images obtained by the laser vision system (20) by use of the optical flow, and a travel distance calculating module (120) calculating the travel distance of the moving welding robot (10) from the size of the motion vector and a time interval between plural images. Therefore, without mounting a separate sensor, the travel distance can be measured by use of the laser vision system provided for tracking the welding line, to calculate the moving speed of the welding robot, and thus the speed control of the welding robot can be controlled. By controlling the speed of the welding robot in a closed manner, it is possible to constantly maintain the welding quality even under various environmental changes which occur during the welding. |
