CN113063348B - Structured light self-perpendicular arc welding seam scanning method based on three-dimensional reference object - Google Patents
Structured light self-perpendicular arc welding seam scanning method based on three-dimensional reference object Download PDFInfo
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- CN113063348B CN113063348B CN202110275161.1A CN202110275161A CN113063348B CN 113063348 B CN113063348 B CN 113063348B CN 202110275161 A CN202110275161 A CN 202110275161A CN 113063348 B CN113063348 B CN 113063348B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a structured light self-perpendicular arc welding seam scanning method based on a three-dimensional reference object, which comprises the steps of firstly calibrating a camera and the three-dimensional reference object, obtaining parameters converted from two dimensions to three dimensions, scanning a welding seam twice successively by using structured light of the camera, obtaining a rough spatial three-dimensional curve of the welding seam under a three-dimensional reference object coordinate system by using the first scanning, and controlling the structured light to be perpendicular to the welding seam in the scanning process by using the curve obtained by the first scanning, wherein the welding seam always falls in the length range of the structured light, improving the extraction precision of characteristic points, fitting the extracted characteristic points into a two-dimensional curve under the camera coordinate, converting the two-dimensional curve into a three-dimensional welding curve under a welding robot coordinate system, and performing welding of the welding seam by using a welding robot according to the track movement of the welding curve, thereby improving the welding quality.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to a structured light self-perpendicular arc welding seam scanning method based on a three-dimensional reference object.
Background
Welding is an industrial technique for joining metal bodies, and belongs to a common joining means in the field of industrial manufacturing. Welding modes such as arc welding, resistance welding, submerged arc welding, carbon dioxide arc welding and the like are sequentially appeared in an industrial field from the thirty-year of the last century, however, as the requirement on production efficiency is met, robot welding is gradually started to be applied to the industrial field from the eight-year of the last century, repeated labor is replaced by manpower, and the welding efficiency and the automation degree are greatly improved.
The structured light vision measurement technology is developed based on the laser triangulation ranging principle and gradually becomes a mainstream vision measurement technology, and has related application in a plurality of fields, and the technology can quickly obtain characteristic point coordinates of welding seams with different shapes and has the characteristics of non-contact, high measurement precision, good real-time performance and the like.
The welding line is scanned by the mechanism light, and the corresponding characteristic point extraction algorithm is combined to obtain the space coordinates of the characteristic points so as to be fed back to the robot for welding, but the conventional scanning mode cannot control the scanning precision, the length of the structural light is limited, in the scanning process, particularly the arc welding line, the scanning angle is required to be adjusted in time in the space scanning process, the problem that the welding line cannot be scanned by the structural light and part of the characteristic points of the welding line cannot be effectively extracted easily occurs, and only the intersection point of the structural light and the welding line is kept, the characteristic points of the welding line are extracted, the extraction precision is not high, and the use requirement cannot be met for scenes with higher welding requirements.
Disclosure of Invention
The technical purpose is that: aiming at the defects that the characteristic points of an arc welding line structure light scanning method are low in extraction precision, welding line missing scanning is easy to occur and the like in the prior art, the invention discloses a three-dimensional reference object-based structured light self-perpendicular arc welding line scanning method which enables structured light to always keep a perpendicular posture with a tangent line of the arc welding line characteristic points and improves the extraction precision of the welding line characteristic points.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
a structured light self-perpendicular arc welding seam scanning method based on a three-dimensional reference object comprises the following steps:
s01, firstly calibrating a camera and a three-dimensional reference object, acquiring an internal parameter and an external parameter of the camera relative to the three-dimensional reference object, and converting a two-dimensional coordinate under an image shot by the camera into a three-dimensional coordinate under the three-dimensional reference object through the internal parameter and the external parameter;
s02, scanning a welding seam through the structured light of a laser;
s03, carrying out gray processing on the image scanned by the camera, and extracting two-dimensional coordinates of each point corresponding to the welding line in the gray image;
s04, converting the two-dimensional coordinates of the welding seam on the gray-scale image in the step S03 into three-dimensional coordinates under a three-dimensional reference object coordinate system by utilizing the internal parameters and the external parameters of the camera obtained in the step S01 relative to the three-dimensional reference object, so as to obtain a spatial three-dimensional curve of the welding seam;
s05, converting the coordinates of the spatial three-dimensional curve of the welding seam into three-dimensional coordinates under a welding robot coordinate system to obtain a spatial track of welding operation, and welding according to the spatial track by the welding robot.
Preferably, in step S02 of the present invention, the structured light scanning is divided into two times, the intersection point of the structured light and the weld is maintained for the first time, the scanning is performed for the second time, the direction and the position of the structured light are adjusted according to the spatial three-dimensional curve of the weld under the three-dimensional reference object coordinate system obtained by the first structured light scanning, the structured light vertical scanning is performed for the weld, the structured light is controlled to be vertical to the tangent line at the scanning position, and then the steps S03 and S04 are repeated to obtain the accurate spatial three-dimensional curve of the weld.
Preferably, in step S02 of the present invention, the scanning of the weld line vertically by the structured light includes the steps of:
s021, scanning a weld joint for the first time to obtain any point A' on a weld joint space three-dimensional curve; the passing point A' is taken as a tangent line L1 of a three-dimensional space curve of the welding seam, and the intersection point of the tangent line L1 and a plane of the three-dimensional reference object in a three-dimensional reference object coordinate system is marked as a point C;
s022, making a straight line L2 parallel to the coordinate axis by a passing point C along the length direction of the welding line; the point A is taken as a perpendicular L3 of the tangent L1, and the intersection point of the perpendicular L3 and the straight line L2 is marked as a point B;
s023, adjusting the structure light of the camera to enable the structure light to be parallel to the perpendicular L3 and pass through the point A', and performing weld scanning;
s024, precisely extracting characteristic points according to the image vertically scanned by the structured light;
preferably, in step S023 of the present invention, the Z-axis coordinate of the point a' is located between the Z-axis coordinates of the boundaries of both ends of the structured light.
Preferably, in step S024 of the present invention, the feature point is extracted by using the curvature mutation of the structural light irradiated on the weld joint, and the two-dimensional coordinates of the precise feature point A1 are obtained.
Preferably, in step S03 of the present invention, the coordinates of the intersection point of the structured light and the weld are extracted by using a data vernier tool.
Preferably, in step S04 of the present invention, a two-dimensional trajectory equation of the weld in the grayscale image is fitted by using the two-dimensional coordinates obtained in step S03, and then the two-dimensional trajectory is converted into a spatial three-dimensional curve of the weld.
The beneficial effects are that: the structured light self-perpendicular arc welding seam scanning method based on the three-dimensional reference object has the following beneficial effects:
1. according to the invention, through two times of structured light scanning, the first scanning is performed, the structured light of the camera is kept in contact with the welding seam, the preliminary characteristic point extraction is performed, a preliminary welding seam space three-dimensional curve is formed, the second scanning is performed, the camera performs accurate scanning according to the obtained preliminary welding seam space three-dimensional curve track, the structured light is vertically scanned with the welding seam, the extraction precision of the characteristic point is improved, and the welding quality is improved.
2. When the camera runs on the three-dimensional curve of the weld space to scan the weld, a straight line which passes through any scanning point and is perpendicular to the tangent line is found by taking the characteristic point as a curve tangent line, the structural light is regulated, so that the structural light is parallel to the straight line and passes through the point, the scanning direction of the structural light is ensured to be perpendicular to the weld, the conversion relation of a foundation is input, the automatic running and adjustment can be realized, the automation degree is high, and the scanning efficiency is improved.
3. When the structure light is adjusted to vertically scan the welding seam, the Z-axis coordinates of the feature points to be scanned are positioned between the Z-axis coordinates of the boundaries of the two ends of the structure light, so that the feature points can be scanned by the structure light, omission can not occur, and the guarantee is provided for the subsequent welding quality.
4. The invention extracts the characteristic points by utilizing the curvature mutation of the structural light irradiation on the welding line, and has high extraction accuracy.
5. According to the invention, the two-dimensional track equation of the welding line is fitted firstly, then the two-dimensional track is converted into a space three-dimensional curve, and the two-dimensional coordinates of the characteristic points are not required to be converted into three-dimensional coordinates independently, and then the fitting is carried out, so that the conversion difficulty is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a vertical scanning schematic diagram of the present invention.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, but in which the invention is not so limited.
The invention provides a structured light self-perpendicular arc welding seam scanning method based on a three-dimensional reference object, which comprises the following steps:
s01, firstly calibrating the camera and the three-dimensional reference object to obtain the internal parameters of the camera relative to the three-dimensional reference object
And exo-parameters->
Wherein k is x Is the magnification factor k in the x-axis direction under the camera coordinate system y Is the magnification factor in the y-axis direction in the camera coordinate system, (u) 0 ，v 0 ) Image coordinates of the optical axis center line of the laser at the intersection point of the imaging plane; (n) X ，n Y ，n Z ) Is the direction vector of the X axis of the three-dimensional reference object coordinate system under the camera coordinate system, (o) X ，o Y ，o Z ) Is the direction vector of the Y-axis of the three-dimensional reference object coordinate system under the camera coordinate system, (a) X ，a Y ，a Z ) Is the direction vector of the Z axis of the three-dimensional reference object coordinate system under the camera coordinate system, p X ，p Y ，p Z The coordinates of the origin of the three-dimensional reference object coordinate system in the camera coordinate system are respectively; converting the two-dimensional coordinates under the gray level image into three-dimensional coordinates under the three-dimensional reference object through the inner parameter M1 and the outer parameter M2;
s02, scanning a welding seam through the structural light of the camera;
s03, carrying out gray processing on the image scanned by the camera,extracting two-dimensional coordinates of each point corresponding to the welding line in the gray-scale image, wherein the coordinates of any point are expressed as A (x A ，y A ) Wherein x is A 、y A Respectively representing the abscissa and the ordinate of the point A under the two-dimensional coordinate system of the gray-scale image;
s04, converting the two-dimensional coordinates of the point A on the weld on the gray-scale image in the step S03 into three-dimensional coordinates (X w ，Y w ，Z w ) Firstly, converting the two-dimensional coordinates of the gray image point A into three-dimensional coordinates in a camera coordinate system:
wherein x' A 、y′ A 、z′ A Respectively three-dimensional coordinates of the point A under a camera coordinate system; and then converting the three-dimensional coordinates under the camera coordinate system into three-dimensional coordinates under the three-dimensional reference object coordinate system: />
Wherein X is w ，Y w ，Z w The three-dimensional coordinate of a point A' corresponding to the point A in the three-dimensional reference object coordinate system is obtained by fitting each converted characteristic point, so that a spatial three-dimensional curve of the welding line is obtained;
s05, converting the coordinates of the spatial three-dimensional curve of the welding seam into three-dimensional coordinates under a welding robot coordinate system to obtain a spatial track of welding operation, and welding according to the spatial track by the welding robot.
In the step S02 of the invention, the scanning of the structural light on the welding line is divided into two times, the intersection point of the structural light and the welding line is maintained for the first time, the scanning is carried out for the second time according to the spatial three-dimensional curve of the welding line under the three-dimensional reference object coordinate system obtained by the scanning of the structural light for the first time, the direction and the position of the structural light are adjusted, the vertical scanning of the structural light is carried out on the welding line, and then the steps S03 and S04 are repeated to obtain the accurate spatial three-dimensional curve of the welding line.
In step S02 of the present invention, the scanning of the structured light vertically for welding includes the steps of:
s021, as shown in figure 1, in the embodiment, a three-dimensional reference object adopts a cuboid reference object with known size, a coordinate system is established, and a workpiece to be welded is placed on the three-dimensional reference object to obtain a weld joint space three-dimensional curve of first scanning; any point A' (X) on the weld space three-dimensional curve obtained by scanning the first weld A′ ，Y A′ ，Z A′ ) Wherein X is A′ ，Y A′ ，ZA ′ Respectively representing three-dimensional coordinate values of a point A' under a three-dimensional reference object coordinate system; the passing point A' is taken as a tangent line of a three-dimensional space curve of the welding seam
Wherein u is 1 、v 1 、w 1 The tangential line L1 is a parameter, and is a component of the direction vector of the straight line L1 in three coordinate axes X, Y, Z.
S022, combining the tangent line L1 with the analysis type of the upper plane of the three-dimensional reference object,
wherein A is 2 、B 2 、C 2 D is a general coefficient of a plane equation on the three-dimensional reference object; obtain the coordinates (X) of point C 2 ，Y 2 ，Z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Straight line parallel to Y-axis is made at upper plane passing point C>
Wherein u is 2 、v 2 、w 2 The parameters are parameters of the straight line L2, and are components of the direction vector of the straight line L2 in three coordinate axes X, Y, Z; point a' makes a perpendicular L3 to the tangent L1. Since there are numerous perpendicular lines which pass through a certain point in space and form a certain straight line, in order to ensure that the structured light can be completely scanned onto the device, the perpendicular line L3 is intersected with the straight line L2, and the intersection point is B (X 3 ，Y 3 ，Z 3 ) At this time, a unique vertical line is also established>
Wherein u is 3 、v 3 、w 3 The parameter of the perpendicular line L3 is a component of the direction vector of the perpendicular line L3 in three coordinate axes X, Y, Z.
S023, adjusting the structural light of the camera, performing weld scanning by using the structural light, and adjusting the structural light of the camera to enable the structural light to be parallel to the perpendicular L3 and pass through the point A', so as to perform weld scanning;
s024, extracting accurate feature points A1 according to the image vertically scanned by the structured light;
in step S023, the present invention causes the Z-axis coordinate Z of the point A A′ Between Z-axis coordinates of boundaries at both ends of the structured light, assuming that the length of the structured light is L, both end points thereof are denoted by E and F, respectively, and three-dimensional coordinates under a three-dimensional reference object coordinate system are E (X E ，Y E ，Z E )，F(X F ，Y F ，Z F )，Z E ＜Z F Z is then E ＜Z w ＜Z F The method comprises the steps of carrying out a first treatment on the surface of the In the scanning process, the distance between the moving track of the camera and the welding line are unchanged, and the structured light always irradiates the characteristic points when the structured light fixes one position.
In step S024 of the present invention, feature points are extracted by using the curvature mutation of the structural light irradiated on the weld, and the two-dimensional coordinates of the precise feature point A1 are obtained.
In the step S04, the intersection point coordinates of the structured light and the welding line are extracted by utilizing a data vernier tool, and the two-dimensional track equation of the welding line in the gray-scale image can be fitted by utilizing the two-dimensional coordinates obtained in the step S03: y=p 1 x 2 +p 2 x+p 3 Wherein p1, p2 and p3 are parameters of a weld curve, and the two-dimensional track is converted into a spatial three-dimensional curve of the weld.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (5)
1. A structured light self-perpendicular arc welding seam scanning method based on a three-dimensional reference object is characterized by comprising the following steps of: the method comprises the following steps:
s01, firstly calibrating a camera and a three-dimensional reference object, acquiring an internal parameter and an external parameter of the camera relative to the three-dimensional reference object, and converting a two-dimensional coordinate under an image shot by the camera into a three-dimensional coordinate under the three-dimensional reference object through the internal parameter and the external parameter;
s02, scanning a welding seam through the structured light of a laser;
s03, carrying out gray processing on the image scanned by the camera, and extracting two-dimensional coordinates of each point corresponding to the welding line in the gray image;
s04, converting the two-dimensional coordinates of the welding seam on the gray-scale image in the step S03 into three-dimensional coordinates under a three-dimensional reference object coordinate system by utilizing the internal parameters and the external parameters of the camera obtained in the step S01 relative to the three-dimensional reference object, and fitting to obtain a spatial three-dimensional curve of the welding seam;
s05, converting coordinates of a spatial three-dimensional curve of the welding seam into three-dimensional coordinates under a welding robot coordinate system to obtain a spatial track of welding operation, and welding according to the spatial track by the welding robot;
in the step S02, the scanning of the structured light is divided into two times, the intersection point of the structured light and the welding line is maintained for the first time, the scanning is performed for the second time, the direction and the position of the structured light are adjusted according to the spatial three-dimensional curve of the welding line under the three-dimensional reference object coordinate system obtained by the scanning of the structured light for the first time, the vertical scanning of the structured light is performed for the welding line, the structured light is controlled to be vertical to the tangent line at the scanning position, and then the steps S03 and S04 are repeated to obtain the accurate spatial three-dimensional curve of the welding line;
in the step S02, the scanning of the structured light for vertically scanning the solder includes the steps of:
s021, scanning a weld joint for the first time to obtain any point A' on a weld joint space three-dimensional curve; the passing point A' is used as a tangent line L1 of a three-dimensional space curve of the welding seam, and the intersection point of the tangent line L1 and a plane of the three-dimensional reference object in a three-dimensional reference object coordinate system is marked as a point C;
s022, making a straight line L2 parallel to the coordinate axis by a passing point C along the length direction of the welding line; the perpendicular L3 of the tangent L1 is taken as a passing point A', and the intersection point of the perpendicular L3 and the straight line L2 is marked as a point B;
s023, then adjusting the structured light to enable the structured light to be parallel to the perpendicular L3 and pass through the point A', and scanning the welding seam;
s024, extracting characteristic points according to the image vertically scanned by the structured light.
2. The method for scanning the structured light self-perpendicular arc welding seam based on the three-dimensional reference object according to claim 1, wherein the method comprises the following steps of: in the step S023, the Z-axis coordinate of the point a' is located between the Z-axis coordinates of the boundaries of the two ends of the structured light.
3. The method for scanning the structured light self-perpendicular arc welding seam based on the three-dimensional reference object according to claim 1, wherein the method comprises the following steps of: in the step S024, the curvature mutation of the structural light irradiated on the weld seam is utilized to extract the feature points, and the precise two-dimensional coordinates of the feature points are obtained.
4. The method for scanning the structured light self-perpendicular arc welding seam based on the three-dimensional reference object according to claim 1, wherein the method comprises the following steps of: in step S03, the coordinates of the intersection point of the structured light and the weld are extracted by the data vernier tool.
5. The method for scanning the structured light self-perpendicular arc welding seam based on the three-dimensional reference object according to claim 1, wherein the method comprises the following steps of: in step S04, a two-dimensional trajectory equation of the weld in the grayscale image is fitted by using the two-dimensional coordinates obtained in step S03, and then the two-dimensional trajectory is converted into a spatial three-dimensional curve of the weld.
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