CN109986201A - Tracking detection method, device, storage medium and the laser welding apparatus of weld seam - Google Patents
Tracking detection method, device, storage medium and the laser welding apparatus of weld seam Download PDFInfo
- Publication number
- CN109986201A CN109986201A CN201810297756.5A CN201810297756A CN109986201A CN 109986201 A CN109986201 A CN 109986201A CN 201810297756 A CN201810297756 A CN 201810297756A CN 109986201 A CN109986201 A CN 109986201A
- Authority
- CN
- China
- Prior art keywords
- welding
- coordinate
- contour images
- point
- weld seam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention discloses a kind of tracking detection method of weld seam, device, storage medium and laser welding apparatus, are related to laser welding field.The tracking detection method of the weld seam includes: the contour images for obtaining welding plate, and the welds types of the welding plate is obtained according to the contour images, and the contour images are two dimensional image, the horizontal width of the contour surface including the welding plate and longitudinal height；Coordinate system is established, for determining the spatial position of the welding plate, the coordinate of the contour images is the coordinate of corresponding welding plate position；According to the welds types of acquisition, the target point of the coordinate of one or more position while welding for calculating the welding plate is chosen in the contour images, and calculates according to the coordinate of the target point coordinate of the position while welding of the welding plate；Export the coordinate of the position while welding.The detection method of the embodiment of the present invention is simple, it is easy to accomplish, and the position while welding precision measured is high.
Description
Technical field
The invention belongs to the tracking detection method of laser welding field more particularly to weld seam, device, storage medium and swash
Photocoagulation equipment.
Background technique
Weld joint tracking, exactly in welding, real-time detection goes out the deviation of weld seam, and adjusts path of welding and welding parameter, protects
Demonstrate,prove the reliability of welding quality.Weld joint tracking belongs to the vision measurement of 3 D stereo.In laser beam welding, added by workpiece
Work, positioning accuracy and the influence of thermal deformation, path of welding often deviate weld seam, cannot meet the requirements, so weld joint tracking is to protect
Demonstrate,prove an important aspect of welding quality.Weld joint tracking is to improve weld seam precision by extracting welding seam position information, is welded
Seam position measurement is to realize the key technology of weld joint tracking.
Currently, weld joint tracking mainly uses structured light three-dimensional vision to detect, be all by handling welding line structure light image,
By extracting laser stripe center line and the situation changeable according to weld groove shape, using trench center point as weld seam
Characteristic point extracts, to realize the detection of position while welding.The algorithm for extracting laser stripe center line will be in conjunction with minimum two
Multiplication and image Segmentation Technology, not only algorithm realizes that difficulty is big, but also operation time is long.Also, realize the Integrated Simulation of algorithm
In sensor or profile measurer, acquisition device input picture is depended on, due to sensor or profile measurer itself
Configuration, the welds types that can be realized is single.
Summary of the invention
Technical solution disclosed by the invention is at least able to solve following technical problem: prior art weld joint tracking detection algorithm
Welds types that is complicated and realizing is single.
One or more embodiment of the invention discloses a kind of tracking detection method of weld seam, comprising:
The contour images of welding plate are obtained, and obtain the welds types of the welding plate, the profile according to the contour images
Image is two dimensional image, the horizontal width of the contour surface including the welding plate and longitudinal height；
Coordinate system is established, for determining the spatial position of the welding plate, the coordinate of the contour images is corresponding welding plate
The coordinate of position；
According to the welds types of acquisition, one or more is chosen in the contour images for calculating the welding plate
The target point of the coordinate of position while welding, and calculate according to the coordinate of the target point coordinate of the position while welding of the welding plate；
Export the coordinate of the position while welding.
In one or more embodiment of the invention, the coordinate system is two-dimensional coordinate system, including X-axis and Y-axis, X
Axial coordinate value is the point of the contour images and the horizontal distance for going out luminous point of line-structured light, and Y axis coordinate value is the profile diagram
For the point of picture to the height for going out luminous point of line-structured light, the coordinate of the position while welding is M (x, y)；
If the welds types is stitch welding or not uniform thickness welding, two targets are chosen in the contour images
Point:
The contour images are filtered, remove the contour images in the discrete point of X-direction；
The coordinate of all two neighboring points in the contour images left point is calculated in the difference DELTA x of X-direction, is taken wherein
Maximum two points of difference DELTA x: A1 (x1, y1) and B1 (x11, y11) is used as the target point；
The position while welding M is the midpoint of target point A1 (x1, y1) and target point B1 (x11, y11), coordinate value are as follows:
X=(x1+x11)/2, y=(y1+y11)/2.
In one or more embodiment of the invention, the method also includes:
If the welds types is uniform thickness welding, one end of peak steady is chosen described in one in the contour images
Target point:
The contour images are filtered, the access profile of the Y direction of the contour images is set, reduce institute
The access profile of contour images is stated, and filters out the discrete point of the X-direction of the contour images；
Since the starting point of the contour images left side, the coordinate of all two neighboring points in the contour images is calculated in X
The difference DELTA x1 of axis direction, if wherein the difference DELTA x1 of current point A2 (x2, y2) and its next point B2 (x21, y21) is maximum, then
Point A2 (x2, y2) is used as the target point；
One Horizontal offset distance, delta x2, and the Horizontal offset distance, delta x2 < Δ x1, the weldering of the contour images are set
Stitch the value of the coordinate M (x, y) of position are as follows:
X=x2+ Δ x2, y=y2.
In one or more embodiment of the invention, the method also includes:
If the welds types is arc-shaped welding seam, a target point is chosen in the contour images:
The contour images are filtered, remove the contour images X-direction and Y direction it is discrete
Point；
The contour images are two arcs: the first arc and the second arc, and first arc is in second arc
The left side of shape；The peak-peak point A3 (x3, y3) and minimum peak point B3 (x31, y31) of first arc are in Y direction
Difference is Δ y1=y3-y31, and the peak-peak point A4 (x4, y4) and minimum peak point B4 (x41, y41) of second arc exist
The difference of Y direction is Δ y2=y4-y41, compares difference DELTA y1 and Δ y2, choose the arc at the small place of difference it is described most
The target point of the peak value point as the contour images；
One Horizontal offset distance, delta x3 and a longitudinal biasing distance, delta y3 are set:
If the target is on first arc, the value range of the Horizontal offset distance, delta x3 are as follows: x31-x3 <
Δ x3 < x41-x3, the longitudinal biasing distance, delta y3 value range are as follows: Δ y3 < y3-y31；The position while welding coordinate M (x,
Y) value are as follows:
X=x3+ Δ x3, y=y3- Δ y3；
If the target is on second arc, the value range of the Horizontal offset distance, delta x3 are as follows: x4-x41 <
Δ x3 < x4-x31, the longitudinal biasing distance, delta y3 value range are as follows: Δ y3 < y4-y41；The position while welding coordinate M (x,
Y) value are as follows:
X=x4- Δ x3, y=y4- Δ y3.
One or more embodiment of the invention discloses a kind of tracing and detecting apparatus of weld seam, comprising:
Acquisition module for obtaining the contour images of welding plate, and obtains according to the contour images welding of the welding plate
Type, the contour images are two dimensional image, the horizontal width of the contour surface including the welding plate and longitudinal height；
Index module determines the spatial position of the welding plate, the coordinate of the contour images point set for establishing coordinate system
For the coordinate of its corresponding welding plate position；
Computing module is chosen one or more in the contour images and is used for for the welds types according to acquisition
The target point of the coordinate of the position while welding of the welding plate is calculated, and calculates the weldering of the welding plate according to the coordinate of the target point
Stitch the coordinate of position；
Output module, for exporting the coordinate of the position while welding.
In one or more embodiment of the invention, the computing module includes:
First computational submodule, if being stitch welding or not two mesh of uniform thickness welding for obtaining the welds types
Punctuate, and calculate according to two acquired target points the coordinate of the position while welding.
In one or more embodiment of the invention, the computing module further include:
Second computational submodule, if for obtaining the target point that the welds types is uniform thickness welding, and root
The coordinate of the position while welding is calculated according to the acquired target point.
In one or more embodiment of the invention, the computing module further include:
Third computational submodule, if for obtaining the target point that the welds types is arc-shaped welding seam, and root
The coordinate of the position while welding is calculated according to the acquired target point.
One or more embodiment of the invention discloses a kind of non-transient computer readable storage medium, described non-transient
Computer-readable recording medium storage has computer executable instructions, and the computer executable instructions are for controlling described in execution
The tracking detection method of weld seam.
One or more embodiment of the invention discloses a kind of laser welding apparatus, and the laser welding apparatus can be applied
The tracking detection method of the weld seam.
Compared with prior art, technical solution disclosed by the invention mainly have it is following the utility model has the advantages that
In an embodiment of the present invention, the method is by acquiring the contour images of welding plate, and establishes plane rectangular coordinates
System, determines the specific coordinate of the contour images, so that contour images correspond to the specific location of welding plate.It is applied to a variety of welding
Type, and the target point of the contour images respective numbers is calculated according to welds types, position while welding is calculated using target point
Specific coordinate and export, the position while welding precision that the method for the embodiment of the present invention is measured is high, and method is simple, is easy to real
It is existing.
Detailed description of the invention
Fig. 1 is the flow chart of one embodiment of the invention the method；
Fig. 2 is the schematic diagram of the not uniform thickness welding plate and its contour images that provide in the embodiment of the present invention；
Fig. 3 is the schematic diagram of the uniform thickness welding plate and its contour images that provide in the embodiment of the present invention；
Fig. 4 is the schematic diagram of the R type weld seam and its contour images that provide in the embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of the tracing and detecting apparatus of weld seam in another embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of the tracing and detecting apparatus of weld seam in another embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only
A part of the embodiment of the present invention gives presently preferred embodiments of the present invention instead of all the embodiments in attached drawing.The present invention can
To realize in many different forms, however it is not limited to embodiment described herein, on the contrary, provide the mesh of these embodiments
Be to make the disclosure of the present invention more thorough and comprehensive.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.It following claims, specification and says
Term "and/or" in bright book attached drawing includes any and all combinations of one or more related listed items." the
One ", " second ", " third " etc. are not use to describe a particular order for distinguishing different objects.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
The present invention is described in further details below by way of the drawings and specific embodiments.
To facilitate the understanding of the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
It is bright.Unless otherwise defined, technical and scientific term all used in this specification and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Used term is intended merely to retouch in the description of the invention in this specification
The purpose for stating specific embodiment is not intended to the limitation present invention.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It is the flow chart of one embodiment of the invention with reference to Fig. 1.The method provided in an embodiment of the present invention is applied to swash
Flush weld stitches in technical field, specifically for detecting the location information of weld seam, exports the coordinate of position while welding.The method can be applied
In a variety of image collecting devices, including profile measurer, imaging sensor etc..
Referring to Fig. 1, the described method includes:
S10: obtaining the contour images of welding plate, and the welds types of the welding plate is obtained according to the contour images, described
Contour images are two dimensional image, the horizontal width of the contour surface including the welding plate and longitudinal height；
S20: establishing coordinate system, and for determining the spatial position of the welding plate, the coordinate of the contour images point set is it
The coordinate of corresponding welding plate position；
S30: according to the welds types, one or more is chosen in the contour images for calculating the welding plate
Position while welding coordinate target point, and calculate according to the coordinate of the target point seat of the position while welding of the welding plate
Mark；
S40: the coordinate of the position while welding is exported.
It in step slo, is the contour images of the welding plate by the image that acquisition device acquires.Due to the line of sensor
Structure light is beaten on the profile of welding plate, is fixed and invariable in the length direction of welding plate.Therefore, welding plate wheel need to only be acquired
Wide height change and change width, that is, the contour images obtained are two dimensional image, have recorded the height change of welding plate profile
And change width.
Type according to welding plate welding is different, and the shape of the contour images of acquisition is not also identical, the wheel of same weld type
Wide image is similar.The welds types of the welding plate can intelligently be sentenced according to by intelligent terminal according to the contour images of the welding plate
It is disconnected, actual welding type can also be manually entered by user, and intelligent terminal judgement is obeyed and is manually entered, if intelligent terminal
It, can be with manual modification when misjudgment.
In the method for the invention, acquisition parameter is arranged also according to acquisition device in step S10, improves point of acquisition image
Resolution has obtained the related application information of acquisition device when parameter is arranged, for example, the model of acquisition device, product version, hard
The parameter of acquisition image is specifically arranged according to the application message of acquisition device, matches for part version, hardware address and IP address etc.
It sets the application environment of acquisition, divides example to improve acquisition device acquisition image.
The parameter of acquisition image includes time for exposure, continuous acquisition time interval, signal parameter setting, triggering mode, work
Make range etc., the method for the embodiment of the present invention can be applied to different acquisition devices and fitted by setting various parameters
Answer a variety of application environments.
Corresponding different acquisition device can preferably go out one group of parameter setting as default parameters, so that in more changing device
When can change acquisition parameter automatically, be set as the default acquisition parameter of corresponding acquisition device, facilitate user management parameter setting
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, the execution of each process is suitable
Sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
In step S20, establishing coordinate system is the position for determining welding plate.The contour images are in the coordinate system
In position, corresponding practical welding plate to the position of luminous point out.It is on the basis of the luminous point out of line-structured light when establishing coordinate system
Point, using the light direction of line-structured light as Y-axis, using the horizontal direction of the vertical light direction as X-axis；The contour images
The variation of height and position is the variation in the Y direction, and the variation of width position is the variation in the X-direction.
In an embodiment of the present invention, the method is by acquiring the contour images of welding plate, and establishes plane rectangular coordinates
System, determines the specific coordinate of the contour images, so that contour images correspond to the specific location of welding plate.It is applied to a variety of welding
Type, and the target point of the contour images respective numbers is calculated according to welds types, position while welding is calculated using target point
Specific coordinate and export, the position while welding precision that the method for the embodiment of the present invention is measured is high, and method is simple, is easy to real
It is existing.
It will be exemplified below some specific image acquisition process and position while welding of the tracking detection method of the weld seam
The calculating process of coordinate.
In the method for the embodiment of the present invention, the coordinate system is two-dimensional coordinate, including X-axis and Y-axis, X axis coordinate value are
The point of the contour images and the horizontal distance for going out luminous point of line-structured light, i.e., the width of corresponding position point in welding plate.Y axis coordinate
It is worth the height for going out luminous point for being the point of the contour images to line-structured light, the i.e. height of welding plate corresponding position, then position while welding
Coordinate be M (x, y).
In some embodiment of the invention, the welds types is stitch welding or not uniform thickness welding, is needed in the wheel
Two target points are chosen in wide image to calculate the specific coordinate of M (x, y).
With reference to Fig. 2, the schematic diagram of the not uniform thickness welding plate and its contour images that are provided in the embodiment of the present invention.The profile diagram
For the point set coordinate of picture in the variation of the horizontal position of the corresponding welding plate of variation of X-direction, variation in the Y-axis direction is the weldering
The variation of the actual height of web wheel exterior feature.Also, due to the height of welding plate difference, the contour images are the straight of two different heights
Line, the contour images are stepped shape.
When obtaining target point, first the contour images are filtered, enhance the contrast of contour images, simultaneously
The contour images are removed in the discrete point of X-direction, reduces and is interfered caused by extraneous factor.
Two target points chosen are the consecutive points in the contour images, and the two points are in the difference of X-axis
It is that all adjacent o'clock are maximum.When selection, the coordinate of all two neighboring points should be calculated in the difference DELTA x of X-direction, taken
Wherein maximum two points of difference DELTA x: A1 (x1, y1) and B1 (x11, y11) is used as the target point；The position while welding M is
The midpoint of target point A1 (x1, y1) and target point B1 (x11, y11), the position while welding M are (x, y) are as follows:
X=(x1+x11)/2, y=(y1+y11)/2.
In the corresponding embodiment of the present invention of Fig. 2, the contour images are in maximum two consecutive points of X-direction difference
A1 (x1, y1) and B1 (x11, y11), it should be understood that, consecutive points A1 (x1, y1) and B1 (x11, y11) they are the contour images
Point on edge, the position of weld seam is between A1 (x1, y1) and B1 (x11, y11).In A1 (x1, y1) and B1 (x11, y11)
Point M1 is exactly the position while welding M (x, y) of the contour images, the corresponding coordinate of M1 as in figure.
In some embodiment of the invention, the welds types is uniform thickness welding, needs the peak value in the contour images
The target point and one Horizontal offset distance, delta x2 of setting are chosen to calculate the coordinate of position while welding M in stable one end.
With reference to Fig. 3, the schematic diagram of the uniform thickness welding plate and its contour images that are provided in the embodiment of the present invention.The contour images
Point set coordinate in the horizontal position of the corresponding practical welding plate of variation of X-direction, variation in the Y-axis direction is the welding plate wheel
Wide corresponding actual height.Specifically, since the height of the welding plate is identical, contour images are in two disconnected in same
The straight line of height.
When obtaining target point, the contour images are filtered: the visit of the Y direction of the contour images is set
It asks range, reduces the access profile of the contour images, and filter out the discrete point of the X-direction of the contour images.
Specifically, since the starting point of the contour images left side, all two neighboring points in the contour images are calculated
Coordinate X-direction difference DELTA x1, if the wherein difference DELTA x1 of current point A2 (x2, y2) and its next point B2 (x21, y21)
Point A2 (x2, y2) is then used as the target point by maximum；
One Horizontal offset distance, delta x2, and the Horizontal offset distance, delta x2 < Δ x1, the weldering of the contour images are set
Stitch the coordinate M (x, y) of position are as follows:
X=x2+ Δ x2, y=y2.
In the corresponding embodiment of the present invention of Fig. 3, A2 (x2, y2) in X-direction, the contour images and its is next
The difference DELTA x1 of point B2 (x21, y21) is maximum, and current point A2 (x2, y2) is calculated to the coordinate M of position while welding as target point
(x, y).It should be appreciated that current point A2 (x2, y2) be the contour images in an edge point, current point A2 (x2,
Y2) the point M2 on offset or dish is the position while welding M (x, y) of the figure.
In some embodiments of the invention, the type of welding is the welds types in some embodiment of the invention
For arc-shaped welding seam, needs to choose a target point in the contour images and a Horizontal offset distance, delta x3 and one is set
A longitudinal biasing distance, delta y3 assists calculating the coordinate of position while welding M.When obtaining the target point, need first to the profile
Image is filtered, and removes the X-direction of the contour images and the discrete point of Y direction.
As shown in figure 4, the contour images are two arcs: the first arc and the second arc, and first arc exists
The left side of second arc；The peak-peak point A3 (x3, y3) and minimum peak point B3 (x31, y31) of first arc exist
The difference of Y direction is Δ y1=y3-y31, the peak-peak point A4 (x4, y4) and minimum peak point B4 of second arc
(x41, y41) is Δ y2=y4-y41 in the difference of Y direction, compares difference DELTA y1 and Δ y2, chooses the small place of difference
The target point of the peak-peak point of arc as the contour images；
One Horizontal offset distance, delta x3 and a longitudinal biasing distance, delta y3 are set:
If the target is on first arc, the value range of the Horizontal offset distance, delta x3 are as follows: x31-x3 <
Δ x3 < x41-x3, the longitudinal biasing distance, delta y3 value range are as follows: Δ y3 < y3-y31；The position while welding coordinate M (x,
Y) are as follows:
X=x3+ Δ x3, y=y3- Δ y3；
If the target is on second arc, the value range of the Horizontal offset distance, delta x3 are as follows: x4-x41 <
Δ x3 < x4-x31, the longitudinal biasing distance, delta y3 value range are as follows: Δ y3 < y4-y41；The position while welding coordinate M (x,
Y) are as follows:
X=x4- Δ x3, y=y4- Δ y3.
With reference to Fig. 4, the schematic diagram of the R type weld seam and its contour images that are provided in the embodiment of the present invention.R type weld seam is arc
One of weld seam, the point set coordinate of the contour images corresponds to the variation of the horizontal position of welding plate in the variation of X-direction, in Y
Variation in axis direction is the corresponding height change of the welding plate profile.Specifically, the welding plate is two blocks of arcuate structure plates,
Contour images become two arcs, and radian it is corresponding welding plate radian it is consistent.Wherein, right with the left side for the first arc
Side is the second arc.Specifically:
In the corresponding embodiment of Fig. 4, the peak difference of the second arc is significantly less than the first arc, should be in the second arc
In target point of the highest point as the contour images, the A4 (x4, y4) as in figure, the coordinate of A4 (x4, y4) is individually subtracted
Horizontal offset distance, delta x3 and longitudinal biasing distance, delta y3 is the coordinate of position while welding M (x, y), and M3 institute is in place as in figure
It sets.
It, can be the detection model of profile can be reduced according to actual test environment in method described in above-described embodiment
It encloses, perhaps the detection range of Y direction or reduces the detection of X-axis and Y-axis simultaneously for example, reducing the detection range of X-direction
Range, removal interference, to improve arithmetic speed.
In method described in above-described embodiment, since sensor or profile measurer are in the acquisition, acquisition, volume of image
In code and transmission process, image information may be by different degrees of visible or black light noise pollution, camera
The influence of shake, power-supply fluctuation, intensity of light, arclight, dust etc., cause acquisition the contour images contrast it is low, make
, image quality decline fuzzy at image, influences the accuracy for choosing the target point, and then influence the accurate of the position while welding coordinate
Degree.For this reason, it may be necessary to take necessary image processing operations, the quality of the contour images is improved.
Handle the contour images mainly and include original image is enhanced, is filtered, the processing such as binaryzation, by it is original not
Clearly image is apparent from, and emphasizes the feature of the contour images, improves its picture quality, reinforces image interpretation and identification effect
Fruit.Optionally, mean filter method, median filter method or small wave converting method can be used in filtering method.
Further, the image complete to above-mentioned processing also needs to carry out the operation such as edge detection, feature extraction, it is therefore an objective to increase
The edge feature of the strong contour images, reinforces image interpretation and recognition effect, accurately to obtain the position while welding
Coordinate.
Another embodiment of the present invention discloses a kind of tracing and detecting apparatus of weld seam.It is another reality of the invention with reference to Fig. 5
Apply a kind of structure of the tracing and detecting apparatus of weld seam in example.The tracing and detecting apparatus for the weld seam illustrated in Fig. 5 includes:
Acquisition module 1, for obtaining the contour images and welds types of welding plate, the contour images are two dimensional image, packet
Include the horizontal width and longitudinal direction height of the contour surface of the welding plate；The contour images are different according to the welds types,
It is different that figure is imaged, and the imaging figure of same weld type is similar, i.e., the point set changing rule of the described contour images is similar；
Index module 2 obtains the coordinate of all the points in the contour images for establishing plane right-angle coordinate, described
Plane right-angle coordinate point on the basis of the luminous point out of line-structured light, using the light direction of line-structured light as Y-axis, with vertical described
The horizontal direction of light direction is X-axis；The variation of the height and position of the contour images is the variation in the Y direction, water
The variation that prosposition is set is the variation in the X-direction；
Computing module 4, for choosing one or more in the contour images based on according to the welds types
The target point of the coordinate of the position while welding of the welding plate is calculated, and calculates the weld seam of the welding plate according to the coordinate of the target point
The coordinate of position；
Output module 3, for exporting the coordinate of the position while welding.
The tracing and detecting apparatus of weld seam described in the embodiment of the present invention is by setup module according to the configuration information of acquisition device
And its acquisition parameter is arranged in acquisition environment, to improve the resolution ratio of acquisition image.The profile of welding plate is acquired by acquisition module
Image, and the specific location that coordinate system confirms the contour images is established by index module, then calculated by computing module
It the specific coordinate of position while welding and is exported out by the output module.
It is a kind of tracking inspection of weld seam in another embodiment of the present invention with reference to Fig. 6 in a kind of possible embodiment
Survey device.The computing module 4 includes:
First computational submodule 41, if being stitch welding or not described in two of uniform thickness welding for obtaining the welds types
Target point, and calculate according to two acquired target points the coordinate of the position while welding.
It is a kind of tracking inspection of weld seam in another embodiment of the present invention with reference to Fig. 6 in a kind of possible embodiment
Survey device.The computing module 4 further include:
Second computational submodule 42, if for obtaining the welds types as the target point of uniform thickness welding, and according to
The acquired target point calculates the coordinate of the position while welding.
It is a kind of tracking inspection of weld seam in another embodiment of the present invention with reference to Fig. 6 in a kind of possible embodiment
Survey device.The computing module 4 further include:
Third computational submodule 43, if for obtaining the welds types as the target point of arc-shaped welding seam, and according to
The acquired target point calculates the coordinate of the position while welding.
Another embodiment of the present invention discloses a kind of laser welding apparatus, and the laser welding apparatus can apply above-mentioned weldering
Any module of the tracing and detecting apparatus of seam and the tracking detection method for implementing any one of the above weld seam.
Another embodiment of the present invention discloses a kind of non-transient computer readable storage medium, and the non-transient computer can
It reads storage medium and is stored with computer executable instructions, the computer executable instructions execute any one of the above for controlling
The tracking detection method of weld seam.
When the technical solution in above-mentioned each embodiment uses software realization, above-mentioned each embodiment can will be realized
Computer instruction and/or data storage in computer-readable medium or as on readable medium one or more instructions or
Code is transmitted.Computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be what computer can store
Any usable medium.As example but be not limited to time: computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or
Other optical disc storages, magnetic disk storage medium or other magnetic storage apparatus or can carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.In addition, any connection can fit
When become computer-readable medium.For example, if software is using coaxial cable, light pricker optical cable, twisted pair, Digital Subscriber Line
(DSL) either the wireless technology of such as infrared ray, radio and microwave etc is transmitted from website, server or other remote sources
, then the wireless technology packet of coaxial cable, light pricker optical cable, twisted pair, DSL or such as infrared ray, wireless and microwave etc
It includes in the definition of affiliated medium.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the scope of the patents of the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, still can be to aforementioned each tool for coming for those skilled in the art
Technical solution documented by body embodiment is modified, or carries out equivalence replacement to part of technical characteristic.All benefits
The equivalent structure made of description of the invention and accompanying drawing content is directly or indirectly used in other related technical areas,
Similarly within the invention patent protection scope.
Claims (10)
1. a kind of tracking detection method of weld seam characterized by comprising
The contour images of welding plate are obtained, and obtain the welds types of the welding plate, the contour images according to the contour images
For two dimensional image, the horizontal width of the contour surface including the welding plate and longitudinal height；
Coordinate system is established, for determining the spatial position of the welding plate, the coordinate of the contour images is corresponding welding plate position
Coordinate；
According to the welds types of acquisition, one or more is chosen in the contour images for calculating the weld seam of the welding plate
The target point of the coordinate of position, and calculate according to the coordinate of the target point coordinate of the position while welding of the welding plate；
Export the coordinate of the position while welding.
2. the tracking detection method of weld seam according to claim 1, which is characterized in that the coordinate system is two-dimensional coordinate
System, including X-axis and Y-axis, X axis coordinate value are the point of the contour images and the horizontal distance for going out luminous point of line-structured light, and Y-axis is sat
Scale value is the point of the contour images to the height for going out luminous point of line-structured light, and the coordinate of the position while welding is M (x, y)；
If the welds types is stitch welding or not uniform thickness welding, two target points are chosen in the contour images:
The contour images are filtered, remove the contour images in the discrete point of X-direction；
The coordinate of all two neighboring points in the contour images left point is calculated in the difference DELTA x of X-direction, takes wherein difference
Maximum two points of Δ x: A1 (x1, y1) and B1 (x11, y11) is used as the target point；
The position while welding M is the midpoint of target point A1 (x1, y1) and target point B1 (x11, y11), coordinate value are as follows:
X=(x1+x11)/2, y=(y1+y11)/2.
3. the tracking detection method of weld seam according to claim 2, which is characterized in that the method also includes:
If the welds types is uniform thickness welding, a target is chosen in one end of peak steady in the contour images
Point:
The contour images are filtered, the access profile of the Y direction of the contour images is set, reduce the wheel
The access profile of wide image, and filter out the discrete point of the X-direction of the contour images；
Since the starting point of the contour images left side, the coordinate of all two neighboring points in the contour images is calculated in X-axis side
To difference DELTA x1, if wherein the difference DELTA x1 of current point A2 (x2, y2) and its next point B2 (x21, y21) is maximum, then by point
A2 (x2, y2) is used as the target point；
One Horizontal offset distance, delta x2, and the Horizontal offset distance, delta x2 < Δ x1, the weld seam position of the contour images are set
The value of the coordinate M (x, y) set are as follows:
X=x2+ Δ x2, y=y2.
4. the tracking detection method of weld seam according to claim 2, which is characterized in that the method also includes:
If the welds types is arc-shaped welding seam, a target point is chosen in the contour images:
The contour images are filtered, the X-direction of the contour images and the discrete point of Y direction are removed；
The contour images are two arcs: the first arc and the second arc, and first arc is in second arc
The left side；Difference of the peak-peak point A3 (x3, y3) and minimum peak point B3 (x31, y31) of first arc in Y direction
For Δ y1=y3-y31, the peak-peak point A4 (x4, y4) and minimum peak point B4 (x41, y41) of second arc are in Y-axis
The difference in direction is Δ y2=y4-y41, compares difference DELTA y1 and Δ y2, chooses the highest of the arc at the small place of difference
The target point of the peak point as the contour images；
One Horizontal offset distance, delta x3 and a longitudinal biasing distance, delta y3 are set:
If the target is on first arc, the value range of the Horizontal offset distance, delta x3 are as follows: x31-x3 < Δ x3
< x41-x3, the longitudinal biasing distance, delta y3 value range are as follows: Δ y3 < y3-y31；The coordinate M's (x, y) of the position while welding
Value are as follows:
X=x3+ Δ x3, y=y3- Δ y3；
If the target is on second arc, the value range of the Horizontal offset distance, delta x3 are as follows: x4-x41 < Δ x3
< x4-x31, the longitudinal biasing distance, delta y3 value range are as follows: Δ y3 < y4-y41；The coordinate M's (x, y) of the position while welding
Value are as follows:
X=x4- Δ x3, y=y4- Δ y3.
5. a kind of tracing and detecting apparatus of weld seam characterized by comprising
Acquisition module for obtaining the contour images of welding plate, and obtains according to the contour images welds types of the welding plate,
The contour images are two dimensional image, the horizontal width of the contour surface including the welding plate and longitudinal height；
Index module determines the spatial position of the welding plate, the coordinate of the contour images point set is it for establishing coordinate system
The coordinate of corresponding welding plate position；
Computing module, for according to the welds types, choosing one or more in the contour images for calculating institute
The target point of the coordinate of the position while welding of welding plate is stated, and calculates the position while welding of the welding plate according to the coordinate of the target point
Coordinate；
Output module, for exporting the coordinate of the position while welding.
6. the tracing and detecting apparatus of weld seam according to claim 5, which is characterized in that the computing module includes:
First computational submodule, if being stitch welding or not two targets of uniform thickness welding for obtaining the welds types
Point, and calculate according to two acquired target points the coordinate of the position while welding.
7. the tracing and detecting apparatus of weld seam according to claim 5, which is characterized in that the computing module further include:
Second computational submodule, if for obtaining the target point that the welds types is uniform thickness welding, and according to institute
The target point obtained calculates the coordinate of the position while welding.
8. the tracing and detecting apparatus of weld seam according to claim 5, which is characterized in that the computing module further include:
Third computational submodule, if for obtaining the target point that the welds types is arc-shaped welding seam, and according to institute
The target point obtained calculates the coordinate of the position while welding.
9. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer executable instructions are contained, the computer executable instructions require described in 1-4 any one for controlling perform claim
The tracking detection method of weld seam.
10. a kind of laser welding apparatus, which is characterized in that the laser welding apparatus requires 1-4 any one for perform claim
The tracking detection method of the item weld seam.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810004414 | 2018-01-03 | ||
| CN201810004414X | 2018-01-03 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109986201A true CN109986201A (en) | 2019-07-09 |
| CN109986201B CN109986201B (en) | 2021-10-08 |
Family
ID=67128668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810297756.5A Active CN109986201B (en) | 2018-01-03 | 2018-03-30 | Tracking detection method and device for welding seam, storage medium and laser welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986201B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111138076A (en) * | 2019-12-30 | 2020-05-12 | 武汉华工激光工程有限责任公司 | Laser glass welding control system and method |
| CN111633337A (en) * | 2020-05-25 | 2020-09-08 | 西咸新区大熊星座智能科技有限公司 | Reflection eliminating method and device for laser welding seam measurement |
| CN111740070A (en) * | 2020-07-27 | 2020-10-02 | 无锡先导智能装备股份有限公司 | Battery sealing nail assembly control method, device and equipment |
| CN114967006A (en) * | 2022-07-22 | 2022-08-30 | 武汉达姆科技有限公司 | Welding control method based on image processing in optical module laser welding coupling |
| CN115319323A (en) * | 2022-07-27 | 2022-11-11 | 熵智科技(深圳)有限公司 | Tube plate welding method and system, welding robot and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0118075A1 (en) * | 1983-03-07 | 1984-09-12 | General Electric Company | Control for edge and joint following |
| CN101559512A (en) * | 2009-05-21 | 2009-10-21 | 山东大学 | Welding track detection and control method of plate butt weld based on laser ranging |
| CN102303190A (en) * | 2011-08-03 | 2012-01-04 | 江南大学 | Method for visually tracking plane abut-jointed weld beam by linear laser |
| CN105783726A (en) * | 2016-04-29 | 2016-07-20 | 无锡科技职业学院 | Curve-welding-seam three-dimensional reconstruction method based on line structure light vision detection |
| CN106971407A (en) * | 2017-02-16 | 2017-07-21 | 浙江工业大学 | A kind of weld seam three-dimensional rebuilding method based on two-dimensional wire structure light |
-
2018
- 2018-03-30 CN CN201810297756.5A patent/CN109986201B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0118075A1 (en) * | 1983-03-07 | 1984-09-12 | General Electric Company | Control for edge and joint following |
| CN101559512A (en) * | 2009-05-21 | 2009-10-21 | 山东大学 | Welding track detection and control method of plate butt weld based on laser ranging |
| CN102303190A (en) * | 2011-08-03 | 2012-01-04 | 江南大学 | Method for visually tracking plane abut-jointed weld beam by linear laser |
| CN105783726A (en) * | 2016-04-29 | 2016-07-20 | 无锡科技职业学院 | Curve-welding-seam three-dimensional reconstruction method based on line structure light vision detection |
| CN106971407A (en) * | 2017-02-16 | 2017-07-21 | 浙江工业大学 | A kind of weld seam three-dimensional rebuilding method based on two-dimensional wire structure light |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111138076A (en) * | 2019-12-30 | 2020-05-12 | 武汉华工激光工程有限责任公司 | Laser glass welding control system and method |
| CN111138076B (en) * | 2019-12-30 | 2022-04-19 | 武汉华工激光工程有限责任公司 | Laser glass welding control system and method |
| CN111633337A (en) * | 2020-05-25 | 2020-09-08 | 西咸新区大熊星座智能科技有限公司 | Reflection eliminating method and device for laser welding seam measurement |
| CN111740070A (en) * | 2020-07-27 | 2020-10-02 | 无锡先导智能装备股份有限公司 | Battery sealing nail assembly control method, device and equipment |
| CN114967006A (en) * | 2022-07-22 | 2022-08-30 | 武汉达姆科技有限公司 | Welding control method based on image processing in optical module laser welding coupling |
| CN114967006B (en) * | 2022-07-22 | 2022-11-11 | 武汉达姆科技有限公司 | Welding control method based on image processing in optical module laser welding coupling |
| CN115319323A (en) * | 2022-07-27 | 2022-11-11 | 熵智科技(深圳)有限公司 | Tube plate welding method and system, welding robot and storage medium |
| CN115319323B (en) * | 2022-07-27 | 2024-03-29 | 熵智科技(深圳)有限公司 | Tube plate welding method, system, welding robot and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109986201B (en) | 2021-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109986201A (en) | Tracking detection method, device, storage medium and the laser welding apparatus of weld seam | |
| CN108132017B (en) | Planar weld joint feature point extraction method based on laser vision system | |
| JP5096620B2 (en) | Join feature boundaries | |
| CN108007388A (en) | A kind of turntable angle high precision online measuring method based on machine vision | |
| CN112233249B (en) | B spline surface fitting method and device based on dense point cloud | |
| JP2011238228A (en) | Screen area detection method and system | |
| CN208887565U (en) | A kind of three-dimension measuring system of non-contact type high-precision | |
| Zong et al. | An intelligent and automated 3D surface defect detection system for quantitative 3D estimation and feature classification of material surface defects | |
| CN105627942A (en) | Imaging apparatus and method for detecting object surface micro deformation through machine vision | |
| CN104634242A (en) | Point adding system and method of probe | |
| CN113643372B (en) | Three-dimensional weld extraction method and system | |
| CN110458772A (en) | A kind of point cloud filtering method, device and storage medium based on image procossing | |
| CN109341570B (en) | Machine vision-based internal thread detection method and system | |
| CN110530278A (en) | Utilize the method for multiple line structure light measurement clearance surface difference | |
| JP2024507089A (en) | Image correspondence analysis device and its analysis method | |
| CN116958145B (en) | Image processing method and device, visual detection system and electronic equipment | |
| JP4821009B2 (en) | Camera calibration method using model matching by edge detection | |
| Le et al. | Reconstruction of accurate 3-D surfaces with sharp edges using digital structured light projection and multi-dimensional image fusion | |
| CN115797359A (en) | Detection method and device based on solder paste on circuit board and storage medium | |
| Jung et al. | A novel 2.5 D pattern for extrinsic calibration of tof and camera fusion system | |
| Rodrigues et al. | Structured light techniques for 3D surface reconstruction in robotic tasks | |
| Wang et al. | Contour extraction of a laser stripe located on a microscope image from a stereo light microscope | |
| Shi et al. | Depth sensing with coding-free pattern based on topological constraint | |
| CN116109701A (en) | Object grabbing method based on passive dual-purpose high light reflection | |
| Wang et al. | A fast and precise three-dimensional measurement system based on multiple parallel line lasers |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |