CN109986201B - Tracking detection method and device for welding seam, storage medium and laser welding equipment - Google Patents
Tracking detection method and device for welding seam, storage medium and laser welding equipment Download PDFInfo
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- CN109986201B CN109986201B CN201810297756.5A CN201810297756A CN109986201B CN 109986201 B CN109986201 B CN 109986201B CN 201810297756 A CN201810297756 A CN 201810297756A CN 109986201 B CN109986201 B CN 109986201B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
The embodiment of the invention discloses a tracking detection method and device for a welding line, a storage medium and laser welding equipment, and relates to the field of laser welding. The tracking detection method of the welding seam comprises the following steps: acquiring a contour image of a welded plate, and acquiring the welding type of the welded plate according to the contour image, wherein the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welded plate; establishing a coordinate system for determining the spatial position of the welding plate, wherein the coordinate of the outline image is the coordinate of the corresponding welding plate position; selecting one or more target points for calculating the coordinates of the welding seam position of the welding plate from the contour image according to the acquired welding type, and calculating the coordinates of the welding seam position of the welding plate according to the coordinates of the target points; and outputting the coordinates of the welding seam position. The detection method provided by the embodiment of the invention is simple and easy to realize, and the measured weld joint position precision is high.
Description
Technical Field
The invention belongs to the field of laser welding, and particularly relates to a tracking detection method and device for a welding seam, a storage medium and laser welding equipment.
Background
And (3) seam tracking, namely detecting the deviation of a seam in real time during welding, adjusting a welding path and welding parameters and ensuring the reliability of welding quality. Weld tracking belongs to the visual measurement of three-dimensional space. In the laser welding process, under the influence of processing, positioning accuracy and thermal deformation of workpieces, a welding path often deviates from a welding seam and cannot meet the requirement, so that seam tracking is an important aspect for ensuring the welding quality. The weld joint tracking is to improve the weld joint precision by extracting the weld joint position information, and the weld joint position measurement is a key technology for realizing the weld joint tracking.
At present, structural light three-dimensional visual detection is mainly adopted for seam tracking, structural light images of the seam are processed, laser stripe center lines are extracted, and groove center points are adopted as characteristic points of the seam to extract according to the changeable shapes of grooves of the seam, so that the position of the seam is detected. The algorithm for extracting the laser stripe center line is combined with a least square method and an image segmentation technology, so that the algorithm is difficult to realize and long in operation time. Moreover, software for realizing the algorithm is integrated in the sensor or the profile measuring instrument, the image is input by depending on the acquisition device, and the welding type which can be realized is single due to the configuration of the sensor or the profile measuring instrument.
Disclosure of Invention
The technical scheme disclosed by the invention can at least solve the following technical problems: in the prior art, a welding seam tracking detection algorithm is complex and the realized welding type is single.
One or more embodiments of the present invention disclose a method for tracking and detecting a weld, including:
acquiring a contour image of a welded plate, and acquiring the welding type of the welded plate according to the contour image, wherein the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welded plate;
establishing a coordinate system for determining the spatial position of the welding plate, wherein the coordinate of the outline image is the coordinate of the corresponding welding plate position;
selecting one or more target points for calculating the coordinates of the welding seam position of the welding plate from the contour image according to the acquired welding type, and calculating the coordinates of the welding seam position of the welding plate according to the coordinates of the target points;
and outputting the coordinates of the welding seam position.
In one or more embodiments of the present invention, the coordinate system is a two-dimensional coordinate system, including an X axis and a Y axis, the coordinate value of the X axis is a horizontal distance between a point of the profile image and a light-emitting point of the line structured light, the coordinate value of the Y axis is a height from the point of the profile image to the light-emitting point of the line structured light, and the coordinate of the weld position is M (X, Y);
if the welding type is stitch welding or unequal thickness tailor welding, selecting two target points in the contour image:
filtering the outline image to remove discrete points of the outline image in the X-axis direction;
calculating the difference value delta X of the coordinates of all the two adjacent points in the rest points of the contour image in the X-axis direction, and taking the two points with the maximum difference value delta X: a1(x1, y1) and B1(x11, y11) as the target points;
the weld position M is the midpoint of a target point A1(x1, y1) and a target point B1(x11, y11), and the coordinate values are as follows:
x＝(x1+x11)/2，y＝(y1+y11)/2。
in one or more embodiments of the invention, the method further comprises:
if the welding type is equal-thickness tailor welding, selecting one target point at one end with a stable peak value in the contour image:
filtering the outline image, setting an access range of the outline image in the Y-axis direction, reducing the access range of the outline image, and filtering discrete points of the outline image in the X-axis direction;
calculating the difference value Deltax 1 of the coordinates of all two adjacent points in the contour image in the X-axis direction from the starting point at the left side of the contour image, and if the difference value Deltax 1 between the current point A2(X2, y2) and the next point B2(X21, y21) is the largest, taking the point A2(X2, y2) as the target point;
setting a horizontal offset distance Deltax 2, wherein the horizontal offset distance Deltax 2< Deltax 1, and the coordinate M (x, y) of the weld position of the contour image has the following value:
x＝x2+Δx2，y＝y2。
in one or more embodiments of the invention, the method further comprises:
if the welding type is an arc-shaped welding seam, selecting one target point from the contour image:
filtering the outline image to remove discrete points in the X-axis direction and the Y-axis direction of the outline image;
the profile image is two arcs: a first arc and a second arc, and the first arc is to the left of the second arc; the difference between the highest peak point a3(x3, Y3) and the lowest peak point B3(x31, Y31) of the first arc in the Y-axis direction is Δ Y1-Y3-Y31, the difference between the highest peak point a4(x4, Y4) and the lowest peak point B4(x41, Y41) of the second arc in the Y-axis direction is Δ Y2-Y4-Y41, the difference between Δ Y1 and Δ Y2 are compared, and the highest peak point of the arc where the difference is small is selected as the target point of the contour image;
setting a horizontal offset distance Δ x3 and a longitudinal offset distance Δ y 3:
if the target is on the first arc, the range of the horizontal offset distance Δ x3 is: x31-x3< Δ x3< x41-x3, and the longitudinal offset distance Δ y3 has the value range: Δ y3< y3-y31; the value of the coordinate M (x, y) of the weld position is:
x＝x3+Δx3，y＝y3-Δy3；
if the target is on the second arc, the range of the horizontal offset distance Δ x3 is: x4-x41< Δ x3< x4-x31, and the longitudinal offset distance Δ y3 has the value range: Δ y3< y4-y41; the value of the coordinate M (x, y) of the weld position is:
x＝x4-Δx3，y＝y4-Δy3。
one or more embodiments of the present invention disclose a tracking detection apparatus of a weld, including:
the device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a contour image of a welded plate and acquiring the welding type of the welded plate according to the contour image, and the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welded plate;
the coordinate module is used for establishing a coordinate system and determining the spatial position of the welding plate, and the coordinates of the outline image point set are the coordinates of the position of the welding plate corresponding to the outline image point set;
the calculation module is used for selecting one or more target points for calculating the coordinates of the welding seam position of the welding plate from the contour image according to the acquired welding type, and calculating the coordinates of the welding seam position of the welding plate according to the coordinates of the target points;
and the output module is used for outputting the coordinates of the welding seam position.
In one or more embodiments of the invention, the calculation module comprises:
and the first calculation submodule is used for acquiring two target points which are welded in a stitch welding or a different-thickness stitch welding mode if the welding type is the stitch welding or the different-thickness stitch welding, and calculating the coordinates of the welding seam position according to the two acquired target points.
In one or more embodiments of the invention, the calculation module further comprises:
and the second calculation submodule is used for acquiring the target point if the welding type is equal-thickness tailor welding, and calculating the coordinates of the welding seam position according to the acquired target point.
In one or more embodiments of the invention, the calculation module further comprises:
and the third calculation submodule is used for acquiring the target point if the welding type is the arc-shaped welding line and calculating the coordinate of the welding line position according to the acquired target point.
One or more embodiments of the present invention disclose a non-transitory computer-readable storage medium storing computer-executable instructions for controlling execution of a tracking detection method of the weld.
One or more embodiments of the present invention disclose a laser welding apparatus to which the tracking detection method of a weld is applicable.
Compared with the prior art, the technical scheme disclosed by the invention mainly has the following beneficial effects:
in the embodiment of the invention, the method determines the specific coordinates of the contour image by acquiring the contour image of the welding plate and establishing a plane rectangular coordinate system, so that the contour image corresponds to the specific position of the welding plate. The method is applied to various welding types, the target points of the corresponding number of the contour images are calculated according to the welding types, and the specific coordinates of the welding seam position are calculated and output by utilizing the target points.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a welded plate with different thicknesses and a profile image thereof according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a uniform-thickness welded plate and a profile image thereof according to an embodiment of the present invention;
FIG. 4 is a schematic view of an R-shaped weld and its outline image provided in an embodiment of the present invention;
FIG. 5 is a schematic view of a weld seam tracking and detecting device according to another embodiment of the present invention;
fig. 6 is a schematic view of a tracking detection device for a weld joint according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely illustrative of some, but not all, of the embodiments of the invention, and that the preferred embodiments of the invention are shown in the drawings. This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present disclosure is set forth in order to provide a more thorough understanding thereof.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" in the claims, specification, and drawings of the specification herein includes any and all combinations of one or more of the associated listed items. "first," "second," "third," and the like are used to distinguish between different objects and are not used to describe a particular order.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention is described in further detail below with reference to the figures and the detailed description.
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and detailed description. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flow chart of an embodiment of the invention is shown. The method provided by the embodiment of the invention is applied to the technical field of laser welding seams, and is particularly used for detecting the position information of the welding seam and outputting the coordinate of the position of the welding seam. The method can be applied to various image acquisition devices, including a profile gauge, an image sensor, and the like.
Referring to fig. 1, the method includes:
s10: acquiring a contour image of a welded plate, and acquiring the welding type of the welded plate according to the contour image, wherein the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welded plate;
s20: establishing a coordinate system for determining the spatial position of the welding plate, wherein the coordinates of the outline image point set are the coordinates of the corresponding welding plate position;
s30: selecting one or more target points for calculating the coordinates of the welding seam position of the welding plate from the contour image according to the welding type, and calculating the coordinates of the welding seam position of the welding plate according to the coordinates of the target points;
s40: and outputting the coordinates of the welding seam position.
In step S10, the image acquired by the acquisition device is an outline image of the weld plate. Since the line structured light of the sensor impinges on the contour of the solder plate, it is constant along the length of the solder plate. Therefore, only the height change and the width change of the profile of the welded plate need to be acquired, namely the acquired profile image is a two-dimensional image, and the height change and the width change of the profile of the welded plate are recorded.
According to different welding types of the welding plates, the obtained contour images are different in shape and similar in the same welding type. The welding type of the welding plate can be intelligently judged according to the profile image of the welding plate by the intelligent terminal, the actual welding type can also be manually input by a user, the intelligent terminal judges that the actual welding type is subject to manual input, and the actual welding type can be manually modified if the intelligent terminal judges that the actual welding type is wrong.
In the method of the present invention, step S10 further sets acquisition parameters according to the acquisition device, so as to improve the resolution of the acquired image, and when the parameters are set, the relevant application information of the acquisition device, such as the model, product version, hardware address, and IP address of the acquisition device, is already acquired, and the parameters of the acquired image are specifically set according to the application information of the acquisition device, so as to configure the acquired application environment, so as to improve the sub-table rate of the acquired image by the acquisition device.
The parameters of the acquired image comprise exposure time, continuous acquisition time interval, signal parameter setting, trigger mode, working range and the like.
Corresponding to different acquisition devices, a group of parameter settings can be preferably selected as default parameters, so that the acquisition parameters can be automatically changed when the device is replaced, and the default acquisition parameters are set as the default acquisition parameters of the corresponding acquisition device, and a user can conveniently manage the parameter settings.
In step S20, a coordinate system is established for determining the position of the solder plate. And the position of the outline image in the coordinate system corresponds to the position from the actual welding plate to the light emitting point. When a coordinate system is established, the light emitting point of the linear structured light is taken as a reference point, the light emitting direction of the linear structured light is taken as an axis Y, and the horizontal direction vertical to the light emitting direction is taken as an axis X; the change in the height position of the outline image is a change in the Y-axis direction, and the change in the width position is a change in the X-axis direction.
In the embodiment of the invention, the method determines the specific coordinates of the contour image by acquiring the contour image of the welding plate and establishing a plane rectangular coordinate system, so that the contour image corresponds to the specific position of the welding plate. The method is applied to various welding types, the target points of the corresponding number of the contour images are calculated according to the welding types, and the specific coordinates of the welding seam position are calculated and output by utilizing the target points.
Some specific image acquisition processes and calculation processes of the weld position coordinates of the weld tracking detection method will be exemplified below.
In the method according to the embodiment of the present invention, the coordinate system is a two-dimensional coordinate system including an X axis and a Y axis, and the coordinate value of the X axis is a horizontal distance between a point of the profile image and a light emitting point of the line structured light, that is, a width of a corresponding position point on the welding plate. And the coordinate value of the Y axis is the height from the point of the contour image to the light emitting point of the line structure light, namely the height of the corresponding position of the welding plate, and the coordinate of the welding position is M (x, Y).
In some embodiments of the present invention, the welding type is stitch welding or unequal thickness stitch welding, and two target points are selected from the contour image to calculate the specific coordinates of M (x, y).
Referring to fig. 2, a schematic diagram of a welded plate with different thicknesses and a profile image thereof is provided in an embodiment of the present invention. The change of the point set coordinates of the outline image in the X-axis direction corresponds to the change of the horizontal position of the welding plate, and the change in the Y-axis direction is the change of the actual height of the outline of the welding plate. And, because the height of welding the board is different, the profile image is two not straight lines of co-altitude, the profile image is the ladder shape.
When a target point is obtained, the contour image is filtered to enhance the contrast of the contour image, and discrete points of the contour image in the X-axis direction are removed to reduce interference caused by external factors.
Two selected target points are adjacent points in the contour image, and the difference of the two points on the X axis is the largest of all the adjacent points. When selecting, the difference Δ X of the coordinates of all two adjacent points in the X-axis direction should be calculated, and the two points with the largest difference Δ X are taken: a1(x1, y1) and B1(x11, y11) as the target points; the weld position M is the midpoint of target point a1(x1, y1) and target point B1(x11, y11), and the weld position M is (x, y) as:
x＝(x1+x11)/2，y＝(y1+y11)/2。
in the embodiment of the present invention corresponding to fig. 2, the two adjacent points of the contour image having the largest difference in the X-axis direction are a1(X1, y1) and B1(X11, y11), and it should be understood that adjacent points a1(X1, y1) and B1(X11, y11) are points on the edge of the contour image, and the position of the weld is between a1(X1, y1) and B1(X11, y 11). The midpoint M1 between a1(x1, y1) and B1(x11, y11) is the weld position M (x, y) of the contour image, i.e. the coordinate corresponding to M1 in the figure.
In some embodiments of the present invention, the welding type is equal thickness tailor welding, and it is necessary to select a target point at the peak-stabilized end of the profile image and set a horizontal offset Δ x2 to calculate the coordinates of the weld position M.
Referring to fig. 3, a schematic diagram of an equal-thickness welded plate and a contour image thereof is provided in an embodiment of the present invention. The change of the point set coordinates of the outline image in the X-axis direction corresponds to the horizontal position of the actual welding plate, and the change in the Y-axis direction corresponds to the actual height of the welding plate outline. Specifically, since the height of the welding plate is the same, the outline image of the welding plate is a broken two straight lines at the same height.
When a target point is obtained, the contour image is filtered: setting an access range of the outline image in the Y-axis direction, reducing the access range of the outline image, and filtering out discrete points of the outline image in the X-axis direction.
Specifically, starting from the left starting point of the contour image, calculating the difference Δ X1 between the coordinates of all two adjacent points in the contour image in the X-axis direction, and if the difference Δ X1 between the current point a2(X2, y2) and the next point B2(X21, y21) is the largest, taking the point a2(X2, y2) as the target point;
setting a horizontal offset distance Deltax 2, wherein the horizontal offset distance Deltax 2< Deltax 1, and the coordinate M (x, y) of the weld position of the contour image is:
x＝x2+Δx2，y＝y2。
in the embodiment of the present invention corresponding to fig. 3, in the X-axis direction, the difference Δ X1 between a2(X2, y2) in the contour image and the next point B2(X21, y21) is the largest, and the coordinates M (X, y) of the weld position are calculated using the current point a2(X2, y2) as the target point. It should be understood that the current point A2(x2, y2) is the point of one edge in the contour image, and the point M2 at the offset distance of the current point A2(x2, y2) is the weld location M (x, y) of the figure.
In some embodiments of the present invention, the welding type is arc welding, and it is necessary to select a target point in the profile image and set a horizontal offset Δ x3 and a longitudinal offset Δ y3 to assist in calculating the coordinates of the weld position M. When the target point is obtained, the contour image needs to be filtered to remove discrete points in the X-axis direction and the Y-axis direction of the contour image.
As shown in fig. 4, the profile image has two arcs: a first arc and a second arc, and the first arc is to the left of the second arc; the difference between the highest peak point a3(x3, Y3) and the lowest peak point B3(x31, Y31) of the first arc in the Y-axis direction is Δ Y1-Y3-Y31, the difference between the highest peak point a4(x4, Y4) and the lowest peak point B4(x41, Y41) of the second arc in the Y-axis direction is Δ Y2-Y4-Y41, the difference between Δ Y1 and Δ Y2 are compared, and the highest peak point of the arc where the difference is small is selected as the target point of the contour image;
setting a horizontal offset distance Δ x3 and a longitudinal offset distance Δ y 3:
if the target is on the first arc, the range of the horizontal offset distance Δ x3 is: x31-x3< Δ x3< x41-x3, and the longitudinal offset distance Δ y3 has the value range: Δ y3< y3-y31; the coordinates M (x, y) of the weld position are:
x＝x3+Δx3，y＝y3-Δy3；
if the target is on the second arc, the range of the horizontal offset distance Δ x3 is: x4-x41< Δ x3< x4-x31, and the longitudinal offset distance Δ y3 has the value range: Δ y3< y4-y41; the coordinates M (x, y) of the weld position are:
x＝x4-Δx3，y＝y4-Δy3。
referring to fig. 4, a schematic diagram of an R-shaped weld and its outline image is provided in the embodiment of the present invention. The R-shaped welding seam is one of arc welding seams, the change of the point set coordinate of the outline image in the X-axis direction corresponds to the change of the horizontal position of the welding plate, and the change in the Y-axis direction corresponds to the height change of the outline of the welding plate. Specifically, the welding plates are two arc-shaped structural plates, the outline images of the welding plates are two arcs, and the radians of the welding plates are consistent with the radians of the corresponding welding plates. Wherein, the left side is taken as a first arc shape, and the right side is taken as a second arc shape. Specifically, the method comprises the following steps:
in the embodiment corresponding to fig. 4, the peak difference of the second arc is significantly smaller than that of the first arc, and the highest point in the second arc is taken as the target point of the profile image, i.e. a4(x4, y4), and the coordinates of a4(x4, y4) minus the horizontal offset distance Δ x3 and the longitudinal offset distance Δ y3 are the coordinates of the weld position M (x, y), i.e. the position of M3 in the figure.
In the method according to the above embodiment, the detection range of the contour may be narrowed according to the actual test environment, for example, the detection range in the X-axis direction or the detection range in the Y-axis direction is narrowed, or the detection ranges of the X-axis and the Y-axis are narrowed simultaneously, so as to remove the interference, thereby increasing the operation speed.
In the method according to the above embodiment, in the process of collecting, acquiring, encoding and transmitting an image, the sensor or the profile measuring instrument may be affected by noise pollution of visible light or invisible light, camera shake, power fluctuation, light intensity of lamp light, arc light, dust and the like to different degrees, so that the contrast of the collected profile image is low, the image is blurred, the image quality is reduced, the accuracy of selecting the target point is affected, and the accuracy of the position coordinate of the weld joint is affected. For this reason, it is necessary to take necessary image processing operations to improve the quality of the contour image.
The outline image processing method mainly comprises the steps of enhancing, filtering, binarizing and the like of an original image, enabling the original image which is not clear to be clear, emphasizing the characteristics of the outline image, improving the image quality of the outline image and enhancing the image interpretation and identification effects. Alternatively, the filtering method may employ a mean filtering method, a median filtering method, or a wavelet transform method.
Further, the processed image needs to be subjected to operations such as edge detection and feature extraction, so as to enhance the edge features of the contour image and enhance the image interpretation and recognition effects, so as to accurately acquire the coordinates of the weld position.
The invention further discloses a tracking detection device for the welding seam. Referring to fig. 5, a structure of a tracking detection apparatus for a weld according to another embodiment of the present invention is shown. The tracking detection device of the weld illustrated in fig. 5 includes:
the device comprises an acquisition module 1, a control module and a control module, wherein the acquisition module is used for acquiring a contour image and a welding type of a welding plate, and the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welding plate; the outline images are different in imaging graph according to different welding types, and the imaging graphs of the same welding type are similar, namely the point set change rule of the outline images is similar;
the coordinate module 2 is used for establishing a planar rectangular coordinate system and acquiring coordinates of all points in the contour image, wherein the planar rectangular coordinate system takes a light emitting point of the linear structured light as a reference point, the light emitting direction of the linear structured light as a Y axis and the horizontal direction perpendicular to the light emitting direction as an X axis; the change of the height position of the outline image is the change in the Y-axis direction, and the change of the horizontal position is the change in the X-axis direction;
the calculation module 4 is configured to select one or more target points for calculating coordinates of the weld position of the welded plate from the contour image according to the welding type, and calculate the coordinates of the weld position of the welded plate according to the coordinates of the target points;
and the output module 3 is used for outputting the coordinates of the welding seam position.
According to the tracking detection device of the welding seam, the acquisition parameters are set through the setting module according to the configuration information of the acquisition device and the acquisition environment, so that the resolution of the acquired image is improved. The method comprises the steps of collecting a contour image of a welding plate through a collection module, establishing a coordinate system through a coordinate module to confirm the specific position of the contour image, calculating the specific coordinate of the position of a welding line through a calculation module, and outputting the specific coordinate by an output module.
In a possible implementation manner, referring to fig. 6, a tracking detection device for a weld joint is provided in another embodiment of the present invention. The calculation module 4 comprises:
the first calculating submodule 41 is configured to obtain two target points that are welded in stitch welding or tailor welding with different thicknesses if the welding type is stitch welding, and calculate coordinates of the weld position according to the obtained two target points.
In a possible implementation manner, referring to fig. 6, a tracking detection device for a weld joint is provided in another embodiment of the present invention. The calculation module 4 further comprises:
and the second calculating submodule 42 is configured to obtain the target point if the welding type is equal-thickness tailor welding, and calculate the coordinates of the weld joint position according to the obtained target point.
In a possible implementation manner, referring to fig. 6, a tracking detection device for a weld joint is provided in another embodiment of the present invention. The calculation module 4 further comprises:
and a third calculating sub-module 43, configured to obtain the target point if the welding type is an arc-shaped welding seam, and calculate coordinates of the welding seam position according to the obtained target point.
Another embodiment of the present invention discloses a laser welding apparatus, which can apply any one of the modules of the above-described seam tracking and detecting device and implement any one of the above-described seam tracking and detecting methods.
Another embodiment of the present invention discloses a non-transitory computer-readable storage medium storing computer-executable instructions for controlling execution of any one of the above-mentioned weld seam tracking detection methods.
When the techniques in the various embodiments described above are implemented using software, the computer instructions and/or data to implement the various embodiments described above may be stored on a computer-readable medium or transmitted as one or more instructions or code on a readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that a computer can store. Taking this as an example but not limiting: computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Further, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, optical fiber cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, optical fiber cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing detailed description, or equivalent changes may be made in some of the features of the embodiments described above. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.
Claims (7)
1. A method for tracking and detecting a weld joint, which can be applied to a plurality of welding types and a plurality of image acquisition devices, comprises the following steps:
acquiring a contour image of a welded plate, and acquiring the welding type of the welded plate according to the contour image, wherein the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welded plate;
establishing a coordinate system for determining the spatial position of the welding plate, wherein the coordinate of the outline image is the coordinate of the corresponding welding plate position; the coordinate system is a two-dimensional coordinate system and comprises an X axis and a Y axis, the coordinate value of the X axis of the coordinate system is the horizontal distance between the point of the contour image and the light-emitting point of the line structured light, the coordinate value of the Y axis of the coordinate system is the height between the point of the contour image and the light-emitting point of the line structured light, and the coordinate of the welding seam position is M (X, Y);
selecting one or more target points for calculating the coordinates of the welding seam position of the welding plate from the contour image according to the acquired welding type, and calculating the coordinates of the welding seam position of the welding plate according to the coordinates of the target points;
outputting the coordinates of the welding seam position;
the step of selecting one or more target points for calculating the coordinates of the weld position of the welded plate from the profile image according to the acquired welding type, and calculating the coordinates of the weld position of the welded plate according to the coordinates of the target points specifically includes:
and if the welding type is an arc-shaped welding seam, selecting one target point from the contour image:
filtering the outline image to remove discrete points in the X-axis direction and the Y-axis direction of the outline image;
the profile image is two arcs: a first arc and a second arc, and the first arc is to the left of the second arc; the difference between the highest peak point A3(x3, Y3) and the lowest peak point B3(x31, Y31) of the first arc in the Y-axis direction is Δ Y1= Y3-Y31, the difference between the highest peak point A4(x4, Y4) and the lowest peak point B4(x41, Y41) of the second arc in the Y-axis direction is Δ Y2= Y4-Y41, the difference between Δ Y1 and Δ Y2 is compared, and the highest peak point of the arc where the difference is small is selected as the target point of the contour image;
setting a horizontal offset distance Δ x3 and a longitudinal offset distance Δ y 3:
if the target point is on the first arc, the range of the horizontal offset distance Δ x3 is: x31-x3< Δ x3< x41-x3, and the longitudinal offset distance Δ y3 has the value range: Δ y3< y3-y31, the value of the coordinate M (x, y) of the weld position being:
x=x3+Δx3，y=y3-Δy3；
if the target point is on the second arc, the range of the horizontal offset distance Δ x3 is: x4-x41< Δ x3< x4-x31, and the longitudinal offset distance Δ y3 has the value range: Δ y3< y4-y41, the value of the coordinate M (x, y) of the weld position being:
x=x4-Δx3，y=y4-Δy。
2. a weld seam tracking and detecting device, which employs the weld seam tracking and detecting method according to claim 1, comprising:
the device comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a contour image of a welded plate and acquiring the welding type of the welded plate according to the contour image, and the contour image is a two-dimensional image and comprises the horizontal width and the longitudinal height of the contour surface of the welded plate;
the coordinate module is used for establishing a coordinate system and determining the spatial position of the welding plate, and the coordinates of the outline image point set are the coordinates of the position of the welding plate corresponding to the outline image point set;
the calculation module is used for selecting one or more target points for calculating the coordinates of the welding seam position of the welding plate from the contour image according to the welding type and calculating the coordinates of the welding seam position of the welding plate according to the coordinates of the target points;
and the output module is used for outputting the coordinates of the welding seam position.
3. The weld seam tracking and detecting device according to claim 2, wherein the calculation module comprises:
and the first calculation submodule is used for acquiring two target points which are welded in a stitch welding or a different-thickness stitch welding mode if the welding type is the stitch welding or the different-thickness stitch welding, and calculating the coordinates of the welding seam position according to the two acquired target points.
4. The weld tracking detection device according to claim 2, wherein the calculation module further comprises:
and the second calculation submodule is used for acquiring the target point if the welding type is equal-thickness tailor welding, and calculating the coordinates of the welding seam position according to the acquired target point.
5. The weld tracking detection device according to claim 2, wherein the calculation module further comprises:
and the third calculation submodule is used for acquiring the target point if the welding type is the arc-shaped welding line and calculating the coordinate of the welding line position according to the acquired target point.
6. A non-transitory computer readable storage medium storing computer executable instructions for controlling execution of the method of tracking detection of a weld of claim 1.
7. A laser welding apparatus for performing the tracking inspection method of the weld bead of claim 1.
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| CN111633337B (en) * | 2020-05-25 | 2021-08-31 | 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 |
| 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 |
| 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 |
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