CN103506756A - Laser lap welding gap detecting system and laser lap welding gap detecting method based on molten pool image visual sensing - Google Patents
Laser lap welding gap detecting system and laser lap welding gap detecting method based on molten pool image visual sensing Download PDFInfo
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- CN103506756A CN103506756A CN201310413452.8A CN201310413452A CN103506756A CN 103506756 A CN103506756 A CN 103506756A CN 201310413452 A CN201310413452 A CN 201310413452A CN 103506756 A CN103506756 A CN 103506756A
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
- B23K26/244—Overlap seam welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention discloses a laser lap welding gap detecting system and a laser lap welding gap detecting method based on molten pool image visual sensing. The detecting system is a visual sensing system and comprises a CMOS camera, a light filtering system, a secondary light source, an image capture card, a computer, a display and the like, wherein the CMOS camera has a LinLog photosensory technology. According to the detecting method, the secondary light source and emitted light of molten pools are used as light sources; plasma is filtered out by utilizing the light filtering system, and light intensity is adjusted; the computer is used for collecting and displaying molten pool images in real time, wherein the molten pool images are obtained by the CMOS camera; molten pool image edges and areas and orifice image edges and areas are extracted and calculated by utilizing a Labview image processing platform, and the quantitative relations between molten pool sizes and orifice areas and between the molten pool sizes and orifice gaps are obtained. The detecting system is simple in structure, clear in monitoring image, high in light signal detecting accuracy, strong in anti-jamming capacity, good in engineering practicability and capable of monitoring laser welding of T-type overlap joint gaps in real time.
Description
Technical field
The present invention relates to welding technology field, particularly a kind of laser lap weldering clearance detecting system and method based on crater image visual sensing.
Background technology
Laser weld has depth-to-width ratio great, heat affected area and thermal deformation is little and production efficiency advantages of higher, in recent years along with the development of Laser Devices, laser beam quality and power all improve a lot, so laser weld is applied in industrial production more and more.In laser beam welding, be accompanied by multiple light, sound, heat, electric radiation phenomenon, these signals are comprising the many information relevant to welding process and welding quality.Wherein, the generation of the dynamic change in Laser Welding molten bath and welding process stability and defect has sizable relation, and meanwhile, molten bath and aperture dynamic change are closely connected, and impact, has determined welding process stability and welding quality jointly each other.The physical mechanism of welding process, in dynamic change and the physical process feature of welding process, can be disclosed in real-time monitored molten bath, instructs welding to produce and improves welding quality.
The T-shaped lap joint of Laser Welding is a kind of novel bridging arrangement pattern, and this type of structure welding need to penetrate top panel and be connected with lower panel, adopts laser weld to have unique advantage, at present less to its relevant research.In dark molten overlap welding, be subject to the impact of Workpiece Machining Accuracy, fixture and welding deformation, upper and lower plates gap is to be difficult to avoid.And the existence in gap will affect the stability of welding process, cause the generation of weld defect.Therefore,, if Neng Dui gap is monitored in real time, just can control the stability of laser lap welding process.And in welding process the stability in molten bath and gap directly related, its dynamic change characterization and gap change close ties.Therefore, the detection technique in the laser lap weldering gap of exploitation based on crater image visual sensing, has become the key that guarantees the T-shaped lap joint quality of Laser Welding.
Visual sensing monitoring system in different industrial circles extensive use a very long time.Welding process STABILITY MONITORING and tracking sensing method generally have contact, arc type, electromagnetic type, photo-electric, vision formula etc. multiple.Wherein, vision sensor does not contact, contains much information because it has with workpiece (can double as monitoring), anti-electromagnetic interference capability is strong, highly sensitive, be suitable for the advantages such as groove type is many, is considered to the most promising a kind of method for sensing.At present, conventional vision sensor is divided into two kinds of charge-coupled image sensor (CCD) formula and complementary metal oxide semiconductors (CMOS) (CMOS) formulas, the light signal of varying strength can be converted to the image information of different amplitudes.Compare with CCD formula, the advantage such as cmos sensor has that chip integration is high, low in energy consumption, fast response time, dynamic range are wide, can adopt the picture signal amplification mode of " linearity+logarithm ", can to high-brightness signal, carry out logarithmic amplification to linear amplification of low brightness signal, dynamic range expanded as much as possible when guaranteeing low brightness area picture contrast, be therefore particularly suitable for working in the high environment of this comparison of light and shade degree of picture welding.LinLog technology is a kind of special sensitization technology, is usually used in taking the image of high-contrast, and the basic principle of this technology is exactly the super bright region utilizing in log-compressed technique compresses image, reduces picture contrast.It is only log-compressed response approaching saturated and zone of saturation that LinLog technology makes sensor, and retains its linear response in low-light (level) region and sensitivity, so both expanded the dynamic range of whole sensor, has guaranteed again the quality of low-light (level) regional imaging.Thereby, utilize machine vision directly to observe the interaction zone of laser and workpiece, by image, process the characteristic information that obtains molten bath and aperture, set up welding process real-time monitoring system, realize the closed-loop control of welding quality, become important research direction.
At present, more about the visual sensing technical research of laser weld, and adopt visual sensing technical monitoring and follow the tracks of laser lap weldering gap correlative study and also do not find.By literature search, in by name " detection in laser lap weldering process gap ", (this is brave etc. in palace, laser engineering, 1996, the 24th volume, the 9th phase, 67-69 page), in a literary composition, the people such as Isamu MIYAMOTO utilize photodiode to monitor in laser lap weldering Automobile Plate process the relation of plasma signal intensity and gap value outside keyhole plasma and hole.Research finds that the frequency of plasma light transmitting AC signal has approximately reached 10kHz ，Er Dang gap and has been greater than 0.3mm, and the mean-square value that frequency exchanges while being 4-6kHz is undergone mutation.The signal strength signal intensity that the method is found keyhole plasma by calculating and the Fourier transformation of signal strength signal intensity and crest frequency and gap value have good corresponding relation.In this literary composition, adopt the variation that plasma signal that photodiode gathers can not Real-time Feedback gap, and author there is no the relation in plasma and crater image feature and gap to do further research yet.
Number of patent application is 03116161.8, the patent that denomination of invention is " arc-welding furnace hearth dynamic characteristic vision sensing method " discloses a kind of arc-welding furnace hearth dynamic characteristic vision sensing method, the method is with welding arc optical illumination welding pool, adopt the light of the particular range of wavelengths in optical filter intercepting reflection arclight as imaging source, and regulate light intensity with light damping plate, by flat mirror reflects effect, change light transmition direction, adopt ccd video camera and ordinary optical camera lens by welding pool obverse and reverse information imaging in the same time at same ccd video camera target surface, the method can obtain welding pool front and back in welding process clearly image this, effective monitoring and the control of realization to welding process, this patented method has obtained good effect in the monitoring of arc welding weld crater behavioral characteristics, but not for laser weld.
Number of patent application is 201210325926.9, denomination of invention discloses a kind of narrow gap welding monitoring and weld seam deviation detection method based on infrared visual sensing for " narrow gap welding monitoring and weld seam deviation detection method based on infrared visual sensing ", the infrared visual sensing system that the method is used comprises infrared cmos camera, filter system, image pick-up card, computer and display etc., the method is usingd narrow gap welding arclight and molten bath self radiant light as light source, utilize infrared narrow-band-filter system filtering interference signals and regulate light intensity, computer real-time acquisition also shows the welding image that infrared cmos camera obtains.By the intercepting of image interception window, away from the image of electric arc side, process, and obtain weld seam deviation information by extracting the one-sided edge of groove, can be when effectively avoiding motion electric arc to disturb, improve the real-time that weld seam deviation detects, this patent application for be the detection in narrow gap arc welding molten bath, but do not consider laser weld situation.
Summary of the invention
The defect of not considering laser weld situation for detection system and the method for above brief analysis, the present invention proposes a kind of detection system and method based on having the T-shaped lap joint of the laser weld gap of LinLog sensitization technology CMOS visual sensing, the dynamic behaviour in different gap Liang Xia molten bath and aperture in energy real time monitoring welding process, and can extract molten bath and orifice edge and area and periodically variable information, by the method, can reach the object of monitoring and the tracking in welding process gap.
The detection method that the invention provides the T-shaped lap joint of a kind of Laser Welding based on crater image visual sensing gap, comprises the steps:
(1) workpiece (3) is placed on workbench, with workbench, moves, laser head (1) maintains static; Employing comprise there is LinLog sensitization technology cmos camera (5), the visual sensing system of filter system (11), secondary light source (9), image pick-up card (6), computer (7), display (8), welding image signal is sent into computer (7) through image pick-up card (6), through display (8), shows; Video camera (5) is placed on to workbench side 500-1000mm and is the angle of 75-85 ° with workpiece (3) surface, adjust secondary light source (9) and be positioned at the place ahead 300-500mm of laser head (1) and be 25-35 ° with sample (3) surface; Adjust LinLog sensitization technology cmos camera (5) image size and focal length;
(2) adjust and to there is image that LinLog sensitization technology cmos camera (5) can gather the image ，Ru molten bath in the surperficial whole molten bath of workpiece (3) and maybe cannot not gather between two parties complete crater image and adjust the position with LinLog sensitization technology cmos camera (5); According to speed of welding and fusion length, suitably adjust exposure and control acquisition time and frame number, and recording frequency acquisition;
(3) in laser beam welding, observe molten bath body dynamic change, real-time analysis molten bath and aperture size, shape, brightness and stay the variation of defect;
(4) crater image collecting is imported to another computer ，Dui aperture that Labview image processing platform is housed and carry out edge proposition and area calculating, the corresponding relation of the orifice area such as analysis and gap value; Utilize Photoshop software to measure the width in molten bath and length, analyze the corresponding relation of itself and gap value;
(5) according to the corresponding relation of the width in the corresponding relation of above-mentioned orifice area and gap value and molten bath and length and gap value, by the calculating of the Real Time Observation of crater image in welding process and orifice area and pool width, length and area is detected to the gap value in welding process in real time.
The present invention provides the visual sensing system in the T-shaped lap joint of a kind of Laser Welding based on crater image visual sensing gap simultaneously, comprise and have LinLog sensitization technology cmos camera, filter system, secondary light source, image pick-up card, computer, display, described filter system is coaxially connected with described video camera; IMAQ is placed in the draw-in groove of computer and is connected with LinLog sensitization technology cmos camera by video line, and the welding image signal of LinLog sensitization technology cmos camera collection is sent into computer through image pick-up card; Display and computer join, and show in real time the welding region image collecting.
Utilize this visual sensing system to carry out the monitoring of welding process gap and can there are three kinds of mode of operations: mode of operation one is to realize the T-shaped lap joint crater image of Laser Welding monitoring function, mode of operation two is to realize aperture and melt tank edge and area abstraction function, and mode of operation three is to realize the dual-use function of molten bath and aperture image monitoring and edge and area extraction; For mode of operation one, computer is a computer; For mode of operation two, computer is a computer and Labview image processing platform; For mode of operation three, computer is by master computer IMAQ and the dual systems that forms from Computer Image Processing, master computer gathers welding region image information and send display to show in real time, from computer, carry out image processing and calculating, feed back in time master computer and carry out image comparison analysis, find out the corresponding relation of molten bath and aperture image change and gap value.The detection method in the T-shaped lap joint of the Laser Welding based on the crater image visual sensing gap that the present invention is above-mentioned has mainly been used the mode of operation three of this visual sensing system.
Compared with prior art, beneficial effect of the present invention is as follows:
The one, the present invention has set up monitoring and the detection method in detection laser overlap welding gap, has proposed the molten bath dynamic change quantification characterizing method corresponding with gap value, and has carried out test of many times checking, and accuracy of detection can reach the requirement of weld joint tracking completely;
The 2nd, the present invention adopts the dynamic change with LinLog sensitization technology cmos camera Real-Time Monitoring laser lap weldering T connector process molten bath and aperture, obtains size, shape and the fluctuation information in different gap Liang Xia molten bath and aperture; Adopt image processing platform and the Photoshop software of Labview to carry out subsequent treatment to crater image, the corresponding relation of quantitative analysis gap and molten bath size and orifice area, for Real-Time Monitoring provides foundation; Through adopting detection system of the present invention and method, carry out Site Welding and monitoring, gap value tracking effect has reached the set goal, can accurately differentiate the existence in gap, and the size in energy quantitative analysis gap, precision can reach 0.1mm, has improved welding quality and the welding efficiency of the T-shaped lap joint of Laser Welding;
The 3rd. cmos camera volume that this detection system and method adopt is little, low in energy consumption, fast response time, dynamic range are wide, and adapted filter system, the welding region crater image quality Gao Qie edge collecting is easy to extract, and monitoring effect is good in real time, and engineering practicability is strong.
Certainly, implement arbitrary product of the present invention and might not need to reach above-described all advantages simultaneously.
Accompanying drawing explanation
Fig. 1 is the T-shaped lap joint laser weld visual sensing system schematic diagram of the embodiment of the present invention 1 and embodiment 2;
Fig. 2 is the optical imagery structural representation of the embodiment of the present invention 1 and embodiment 2;
Fig. 3 is laser weld T-shaped lap joint molten bath and the real-time monitoring effect instance graph of aperture image under the embodiment of the present invention 1 different gap amount;
Fig. 4 is complete image real-time monitoring effect instance graph in the T-shaped lap joint of laser weld molten bath under the embodiment of the present invention 1 different gap amount;
Fig. 5 is the embodiment of the present invention 1 molten bath length and method for measuring width schematic diagram;
Fig. 6 is the embodiment of the present invention 1 gapless and has the T-shaped lap joint photo in the situation of gap;
Fig. 7 is that the embodiment of the present invention 1 is extracted molten bath and aperture characteristic parameter flow chart;
Fig. 8 is that the embodiment of the present invention 1 molten bath and aperture image are processed example;
Fig. 9 is before the embodiment of the present invention 1 molten bath and aperture image outline extract and extracts rear schematic diagram;
Figure 10 is that the length in the embodiment of the present invention 1 molten bath and width are with the variation of gap value;
Figure 11 is the change curve of the embodiment of the present invention 1 different gap Liang Xia molten bath area;
Figure 12 is the corresponding relation of the embodiment of the present invention 1 aperture average area and gap value;
Figure 13 is the crater image of the actual testing process of the embodiment of the present invention 2 gap value.
The specific embodiment
The present invention is applicable to the non-detection that penetrates weldering gap of laser lap.Carry out gap value detection in actual production before, need to first test one group or several groups has the sample of definite gap value numerical value to determine the corresponding relation between gap and molten bath parameter, then according to these corresponding relations figure, then the sample of gap value the unknown is carried out to the Real-Time Monitoring of welded gaps.Below in conjunction with accompanying drawing, embodiments of the present invention and implementation process are elaborated.
The detection of relation between embodiment 1 gap value and molten bath parameter
The detection method in the T-shaped lap joint of the Laser Welding based on the crater image visual sensing gap of the present embodiment and embodiment 2 adopts visual sensing system as depicted in figs. 1 and 2, this system comprises: have LinLog sensitization technology cmos camera (5), filter system (11), image pick-up card (6), computer (7), display (8), wherein, computer (7) is by master computer IMAQ and the dual systems forming from Computer Image Processing that Labview image processing platform is housed, master computer gathers welding region image information and send display (8) to show in real time, from computer, carry out image processing and calculating, and feed back in time master computer and carry out image comparison analysis, find out the corresponding relation of molten bath and aperture image change and gap value.
When above-mentioned visual sensing system is used, workpiece (3) is placed on workbench, with workbench, move, laser head (1) maintains static, after video camera (5) is fixing, is placed on workbench side and is the angle of 75 ° with workpiece (7) bottom surface, adjust secondary light source (9) and be positioned at the place ahead 300mm of laser head (1) and be 30 ° with sample (3) surface, adjust camera position, image size and focal length, to gather welding process molten bath and aperture dynamic image, before weldering, cmos camera (5) is set, adjust lens focus and angle, make sample top focal position of laser clear picture and be presented at display (8) above, the welding image signal of collection is sent into computer (7) through image pick-up card (6), through display (8), shows, according to speed of welding and fusion length, suitably adjust exposure and control acquisition time and frame number, and recording frequency acquisition, wherein, cmos camera (5) zooming range is that 18-45mm, f-number are that 5.6-32, exposure are 1-10ms, as shown in Figure 2, filter system (11) is coaxially connected with video camera (5), this filter system (11) comprises narrow band pass filter (13), neutral light damping plate (12), cover plate (14) (being UV mirror), the centre wavelength of narrow band pass filter (13) is 808nm, the transmitance of neutral light damping plate (12) is 25%, cover plate splashes for anti-, utilize secondary light source (9) and molten bath (10) self radiant light as light source, by filter system (11), can effectively eliminate arc light, flue dust, the interference such as splash, and regulate light intensity with neutral light damping plate, to can collect welding region image clearly, comprise aperture (15), zoom lens (16), neutral light damping plate (12), the optical imaging system of narrow band pass filter (13) and UV sheet (14) (being cover plate) is coaxially connected with video camera (5), image pick-up card (6) is placed in the draw-in groove of computer (7) and is connected with video camera (5) by video line, and the welding image signal of video camera (5) collection is sent into computer (7) through image pick-up card (6), display (8) joins with computer (7), shows in real time the welding region image collecting.
Adopt above-mentioned visual pattern sensor-based system and method to carry out the T-shaped lap joint Molten pool image gathering of Laser Welding, experimental condition is as follows:
Welding method: high power CO
2laser Welding;
Test material: low-alloy high-strength steel;
Laser welding apparatus model is the TLF15000turbo CO that German TRUMPF company produces
2fast axis flow pattern laser instrument, peak power output is 15kW, focal length 357mm, spot radius is 0.43mm, continuous wave output;
High-speed camera adopts the MV-D1024-TrackCam of Switzerland Photonfocus company, the highest sample frequency 10000fps;
Image pick-up card: VIEDEO-PCI-XR; Light damping plate parameter: dim light degree 25%;
By adjusting the relevant parameter of high-speed camera and auxiliary element thereof, take plasma image, optimize shooting effect.
Adopt 4mm thick low-alloy high-strength steel to carry out soldering test, the welding condition of choosing is: laser power P=8kW, and sweep speed v=1.5m/min, defocusing amount-2, in welding process, protective gas adopts pure He, and flow is 30L/min.
In laser beam welding, observe molten bath body dynamic change, real-time analysis molten bath and aperture size, shape, brightness and stay the variation of defect; The crater image collecting is imported to the computer that another is equipped with Labview image processing platform, edge proposition and area calculating are carried out in aperture, edge proposes to be specially: first adopt median method smothing filtering, carry out again gray analysis and Threshold segmentation, image after finally utilizing Log boundary operator that gaussian filtering and Lapalace edge detection algorithm are combined to thresholding carries out level and smooth and Integral Processing filtering interfering information, extraction edge line; Analyze the corresponding relation of orifice area and gap value; With Photoshop software, the width in molten bath and length are measured, analyzed the corresponding relation of itself and gap value.The method of calculating the area in molten bath and aperture is: by high-speed photography, get after original bath image, this crater image is carried out to pretreatment, improve the signal to noise ratio of this crater image; Then image is carried out to binary conversion treatment, obtain on optical path direction and the number of the pixel in whole molten bath and aperture, obtain molten bath and orifice area.
Fig. 3 is that the laser lap monitoring based on above-mentioned visual sensing system welds the dynamic image in T connector different gap Liang Xia molten bath, Fig. 4 is the T-shaped lap joint of laser weld molten bath complete image real-time monitoring effect instance graph ，Tu5 molten bath length and method for measuring width schematic diagram under different gap amount.From Fig. 3, Fig. 4 and Fig. 5, can see that not molten bath and aperture (molten bath front end white portion) in the same time have fluctuation and certain periodicity.When gapless (gap is 0mm), fluctuate with it in undulate Tai， aperture, weld pool surface deposite metal, without staying phenomenon; When there is gap, and along with the increase of gap value, molten bath diminishes gradually, stay more and more serious, aperture light and shade checker, run-off the straight gradually.
Fig. 6 is gapless and has the T-shaped lap joint photo in the situation of gap, stays serious when from Fig. 6, butt welded seam shaping influence compare great ， gap, the visible gap of T-shaped lap joint pattern is larger.
The image processing platform technology of employing based on Labview carried out image processing, and molten bath and aperture handling process schematic diagram as shown in Figure 7, are processed example as shown in Figure 8.The image processing platform of employing based on Labview extracts edge and the area in molten bath and aperture from the crater image of taking, specifically comprise: by high-speed photography, obtain after original image, image is carried out to pretreatment, improve signal to noise ratio, then picture is carried out to binary conversion treatment, obtain on optical path direction and the number of the pixel in whole molten bath or aperture, calculate area.With the rear contrast of extraction, known before Tu9Wei molten bath and aperture image extract, by image, process and can extract preferably aperture and melt tank edge, the basic filtering of external interference factor, gained image can farthest react the effective area in molten bath and aperture.
Figure 10 illustrates the length in molten bath and width with the variation of gap value.Visible, with the increase of gap value, the length in molten bath reduces gradually, and wide variety is little.When gap is 0mm, 0.2mm, 0.4mm, 0.6mm, 0.8mm, corresponding molten bath length is respectively 12.4mm, 9.8mm, 9.6mm, 8.5mm, 8mm, 7.5mm.
Figure 11 is different gap Liang Xia molten bath area change curve.Visible, with the increase of gap value, molten bath area reduces gradually ，Dang gap and is greater than 0.2mm Shi， molten bath area and reduces suddenly.When gap is 0mm, 0.2mm, 0.4mm, 0.6mm, 0.8mm, corresponding molten bath area is respectively 50525,43439,29928,25872,23465,22642(Pixel).
Figure 12 illustrates the corresponding relation of aperture average area and gap value.Visible with gap value increase, the average area in aperture reduces gradually, is substantially linear change.When gap is 0mm, 0.2mm, 0.4mm, 0.6mm, 0.8mm, 1.0mm, the average area size in corresponding aperture is respectively 2859,2521,2053,1962,1824, the pixel of 1334(unit).
The actual detection of the T-shaped lap joint gap value of embodiment 2 Laser Welding
Adopt detection system and the method for embodiment 1, and the relation between the Laser Welding of utilizing it to obtain T-shaped lap joint gap and molten bath parameter, by the calculating to the Real Time Observation of crater image in welding process and orifice area and pool width, length and area, the T-shaped lap joint gap value of following two groups of Laser Welding is carried out to gap detection, and testing result as shown in figure 13.
The monitoring result of first group of a is as follows: molten bath length is 9.6mm, and molten bath area is 44323Pixel, and orifice area is 2665.By above data and molten bath with aperture behavioral characteristics is comprehensive analyzes known this time welding process gap value and be about 0.2mm.From the cross section of the corresponding welding point of Figure 13, gap value is 0.21mm, differs 0.01mm with surveyed gap value.
The monitoring result of second group of b is as follows: molten bath length is 7.8mm, and molten bath area is 22053Pixel, and orifice area is 2063.By above data and molten bath with aperture behavioral characteristics is comprehensive analyzes known this time welding process gap value and be about 0.26mm.From the cross section of the corresponding welding point of Figure 13, gap value is 0.23mm, differs 0.03mm with surveyed gap value.
Visible, adopt above-mentioned detection method and detection system, can obtain in welding process molten bath and aperture dynamic image clearly, by observing and calculate molten bath and orifice area and fluctuation situation thereof, can judge fast and accurately generation and the size thereof in welding process gap, for analysis and the detection of follow-up welding quality provides criterion.
The disclosed preferred embodiment of the present invention is just for helping to set forth the present invention above.Preferred embodiment does not have all details of detailed descriptionthe, and also not limiting this invention is only the described specific embodiment.Obviously, according to the content of this description, can make many modifications and variations.These embodiment are chosen and specifically described to this description, is in order to explain better principle of the present invention and practical application, thereby under making, technical field technical staff can understand and utilize the present invention well.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (7)
1. the detection method in the T-shaped lap joint of the Laser Welding based on crater image visual sensing gap, is characterized in that, comprises the steps:
(1) workpiece (3) is placed on workbench, with workbench, moves, laser head (1) maintains static; Employing comprise there is LinLog sensitization technology cmos camera (5), the visual sensing system of filter system (11), secondary light source (9), image pick-up card (6), computer (7), display (8), welding image signal is sent into computer (7) through image pick-up card (6), through display (8), shows; Video camera (5) is placed on to workbench side 500-1000mm and is the angle of 75-85 ° with workpiece (3) surface, adjust secondary light source (9) and be positioned at the place ahead 300-500mm of laser head (1) and be 25-35 ° with sample (3) surface; Adjust LinLog sensitization technology cmos camera (5) image size and focal length;
(2) adjust and to there is image that LinLog sensitization technology cmos camera (5) can gather the image ，Ru molten bath in the surperficial whole molten bath of workpiece (3) and maybe cannot not gather between two parties complete crater image and adjust the position with LinLog sensitization technology cmos camera (5); According to speed of welding and fusion length, suitably adjust exposure and control acquisition time and frame number, and recording frequency acquisition;
(3) in laser beam welding, observe molten bath body dynamic change, real-time analysis molten bath and aperture size, shape, brightness and stay the variation of defect;
(4) crater image collecting is imported to another computer ，Dui aperture that Labview image processing platform is housed and carry out edge proposition and area calculating, analyze the corresponding relation of orifice area and gap value; Utilize Photoshop software to measure the width in molten bath and length, analyze the corresponding relation of itself and gap value;
(5) according to the corresponding relation of the width in the corresponding relation of above-mentioned orifice area and gap value and molten bath and length and gap value, by the gap value in the calculating Real-Time Monitoring welding process of the Real Time Observation of crater image in welding process and orifice area and pool width, length and area.
2. the detection method in the T-shaped lap joint of the Laser Welding based on crater image visual sensing according to claim 1 gap, it is characterized in that, in described step (4), when the described crater image obtaining is processed, first adopt median method smothing filtering, carry out again gray analysis and Threshold segmentation, image after finally utilizing Log boundary operator that gaussian filtering and Lapalace edge detection algorithm are combined to thresholding carries out level and smooth and Integral Processing filtering interfering information, extraction edge line.
3. the detection method in the T-shaped lap joint of the Laser Welding based on crater image visual sensing according to claim 1 gap, it is characterized in that, in described step (4), the method of calculating the area in molten bath and aperture is: by high-speed photography, get after original bath image, this crater image is carried out to pretreatment, improve the signal to noise ratio of this crater image; Then image is carried out to binary conversion treatment, obtain on optical path direction and the number of the pixel in whole molten bath and aperture, obtain molten bath and orifice area.
4. the detection method in the T-shaped lap joint of the Laser Welding based on crater image visual sensing according to claim 1 gap, it is characterized in that, the zooming range of the described LinLog of having sensitization technology cmos camera (5) is that 18-45mm, f-number are 5.6-32, exposure value is 4-10ms, and frame frequency is 800fps; Described filter system (11) is coaxially connected with described video camera (5); Described filter system (11) comprises the optical filter that a wavelength is 808nm (13), two neutral light damping plate (12) and cover plates (14) that transmitance is 25%; Secondary light source used (9) for power be 2W, the semiconductor laser that wavelength is 808nm.
5. the visual sensing system in the T-shaped lap joint of the Laser Welding based on a crater image visual sensing gap, it is characterized in that, comprise there is LinLog sensitization technology cmos camera (5), filter system (11), secondary light source (9), image pick-up card (6), computer (7), display (8), described filter system (11) is coaxially connected with described video camera (5); Image pick-up card (6) is placed in the draw-in groove of computer (7) and is connected with LinLog sensitization technology cmos camera (5) by video line, and the welding image signal of LinLog sensitization technology cmos camera (5) collection is sent into computer (7) through image pick-up card (6); Display (8) joins with computer (7), shows in real time the welding region image collecting.
6. the visual sensing system in the T-shaped lap joint of the Laser Welding based on crater image visual sensing according to claim 5 gap, it is characterized in that, described visual sensing system has three kinds of mode of operations: mode of operation one is to realize the T-shaped lap joint of Laser Welding molten bath dynamic behaviour monitoring function, mode of operation two is to realize molten bath and orifice edge and area abstraction function, and mode of operation three is to realize the dual-use function that molten bath dynamic change monitoring and edge and area are extracted; For mode of operation one, computer (7) is a computer; For mode of operation two, computer (7) is a computer and Labview image processing platform; For mode of operation three, computer (7) is by master computer IMAQ and the dual systems forming from Computer Image Processing that Labview image processing platform is housed, master computer gathers welding region image information and send display (8) to show in real time, from computer, carry out image processing and calculating, and feed back in time master computer and carry out image comparison analysis, find out the corresponding relation of molten bath and aperture image change and gap value.
7. the visual sensing system in the T-shaped lap joint of the Laser Welding based on crater image visual sensing according to claim 5 gap, it is characterized in that, the zooming range of the described LinLog of having sensitization technology cmos camera (5) is that 18-45mm, f-number are 5.6-32, exposure value is 4-10ms, and frame frequency is 800fps; Described filter system (11) comprises the optical filter that a wavelength is 808nm (13), two neutral light damping plate (12) and cover plates (14) that transmitance is 25%; Secondary light source used (9) for power be 2W, the semiconductor laser that wavelength is 808nm.
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| CN117340459A (en) * | 2023-12-04 | 2024-01-05 | 武汉纺织大学 | Ultra-high power laser welding whole process monitoring method and system |
| CN117340459B (en) * | 2023-12-04 | 2024-01-30 | 武汉纺织大学 | Ultra-high power laser welding whole process monitoring method and system |
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