CN114061458B - Method and device for positioning gap through space scanning and application - Google Patents
Method and device for positioning gap through space scanning and application Download PDFInfo
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- CN114061458B CN114061458B CN202210046703.2A CN202210046703A CN114061458B CN 114061458 B CN114061458 B CN 114061458B CN 202210046703 A CN202210046703 A CN 202210046703A CN 114061458 B CN114061458 B CN 114061458B
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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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- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention relates to a method, a device and application for positioning a gap by space scanning, wherein the method comprises the following steps: s1, placing the product in the area to be corrected, and correcting the initial position of each scanning and the relative position of the product relative to the scanning equipment; s2, calculating to obtain the total scanning points and the multi-dimensional coordinates of the corresponding scanning positions to obtain the whole scanning track; s3, driving the product to move along the whole scanning track, and obtaining the actual profile of the product through scanning equipment; s4, extracting a gap track according to the actual contour of the product; and S5, converting the relative distance of part or all of the seam track points into the operation track of the operation component according to the relative position of the operation component relative to the scanning device and the condition of the seam track, and performing guide welding or dispensing. The welding operation track of the invention can guide the welding part to weld or dispense only by fine adjustment through the gap track, thereby ensuring the welding or dispensing precision and improving the operation efficiency.
Description
Technical Field
The invention relates to the technical field of laser welding, in particular to a method and a device for positioning a gap by spatial scanning and application.
Background
In the prior art, in order to realize precise welding or dispensing and the like, the conventional method is to fix axial movable scanning, but the mechanism of the movable scanning sensor is not according to the changing track of the product path; secondly, when the manipulator is used for large-scale welding, gap measurement is carried out through preposed follow-up scanning; however, neither of the above two methods can help precise soldering or dispensing in three-dimensional space.
Disclosure of Invention
Aiming at the problems in the prior art, the traditional scanning mode is difficult to obtain the position of a tight joint seam through calculation processing, the invention provides a method, a device and application for spatially scanning and positioning the seam, which can improve the scanning and positioning accuracy of the position of the seam, and can improve the accuracy of the starting position and the ending position (aiming at an open seam) of the seam or the joint part (aiming at the joint part of the starting position and the ending position of a closed seam), thereby solving the problem of low accuracy of welding or dispensing and the like existing in the three-dimensional space no matter the seam is an open seam or a closed seam.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for positioning a gap by space scanning comprises the following steps:
placing the product in an area to be corrected, and correcting the initial position of each scanning and the relative position of the product relative to the scanning equipment;
furthermore, the initial position of each scanning is corrected by visually positioning the product through a mobile camera and correcting the coordinates of the picking position, so that the picking mechanism is controlled to accurately pick the product, and the consistency of the initial scanning position of the product each time and the relative position of the product relative to the scanning equipment is ensured;
further, the relative position of the relative scanning device is at the initial scanning moment, the position of the scanning device, which is over against the product gap, is set as a product initial operation position, D is set as the linear distance between the scanning light ray emission point of the scanning device and each outline point of the product, when the emergent direction of the scanning light ray is basically vertical to the outline tangent line of the product at the irradiated position, D is obtained, the product moves with the platform in multiple dimensions with the step interval as D, and the D values of each outline point of the product are ensured to be equal;
through this preferred scheme, can ensure that the product gap is in the best measuring position department that scanning light such as laser line was swept all the time.
Furthermore, the scanning device adopts a laser line scanning sensor;
further, according to the relative position of the product relative to the scanning equipment and the overall track length and the stepping interval of the outline of the product, calculating to obtain the total scanning point number and the multi-dimensional coordinates of the corresponding scanning position to obtain an overall scanning track;
further, the total scanning point number calculation comprises the following steps:
setting the position coordinate of scanning equipment as an initial coordinate, enabling the product to move in a multi-dimensional mode along with a platform, setting the multi-dimensional coordinate of each scanning position on the outline of the product, setting the step interval of the platform as d, scanning the outline of the product from the initial scanning position by the scanning equipment, and obtaining the outline of the product after scanning, wherein the length of the overall track of the outline is S;
further, the platform includes, but is not limited to, an XYZR four-axis platform or an XYZRU five-axis platform; the platform comprises an upper laser line scanning sensor which is fixed, and a bottom XYZR/XYZRU which moves; the upper part Z carries a laser line scanning sensor, and the bottom part XYR moves; the upper part XYZ carries the laser line to sweep the sensor to move, and the bottom R/RU follows.
Further, the multidimensional coordinate of the scanning position is calculated by scanning the outline of the product by the scanning equipment according to the stepping interval, and the multidimensional coordinate point set of the scanned product is calculated according to the initial coordinate to form the scanning track of the product;
the product outline is represented by combination of a straight line and an arc, the starting point of the straight line is LP1, the central point of the arc is AP1, the product outline trajectory obtained by scanning is a combination of LPN and APN, N is a positive integer greater than 0, wherein LP1.. N is a straight line point on a straight line segment, AP1.. N is an arc point on a curve segment, and two straight line points in front of and behind the AP and the AP jointly determine an arc; the length S of the whole track of the outline of the product is obtained through accumulative calculation of the lengths of the straight line sections and the circular arc sections on the outline track;
preferably, the product outline is obtained by scanning a straight line segment, the starting point of the straight line is LP11, and the trajectory of the product outline is LPMN, where M and N are positive integers greater than 0, where lp11..1N is a straight line point on the first straight line segment, and lpm1.. MN is a straight line point on the mth straight line segment; the length S of the whole track of the outline of the product is obtained through the accumulated calculation of the lengths of the M straight-line segments on the outline track;
s22, calculating the total scanning point number a of the outline = the whole track length/step distance = S/d;
s3, driving the product to move along the whole scanning track, and obtaining the actual profile of the product through scanning equipment;
s4, extracting a gap track through a Sobel algorithm according to the actual contour of the product;
further, the processing step of extracting the gap trajectory by the Sobel algorithm includes analyzing a gradient curve of each piece of scanning data by the Sobel algorithm to obtain a characteristic position with obvious height change, and finally obtaining a confidence gap position after filtering processing, wherein the gap trajectories corresponding to a plurality of confidence gap positions form the gap trajectory of the whole product;
further, the scan data calculation process includes the following steps:
let the data set of the first piece of scan data be { X11、X12…X1nCalculating gradient value of the data set of each piece of scanning data through Sobel algorithm to obtain a gradient value set
Calculating the arithmetic mean of the gradient value set:
obtaining a gradient difference set according to the arithmetic mean of the gradient value set and the gradient value set
Wherein
In which 1 is<=k<= n; from sets of gradient differences
Calculating the arithmetic mean of the gradient difference set:
；
when gradient value set
A certain point in
Then, keeping the position information of the gradient value set points to carry out aggregation to obtain the index position of the qualified track point, wherein 1=<m<= n; for information beyond 1 index position or information missing 1 index position, the arithmetic mean value P is calculated using the index position information before and afterm=（Pi+……+Pj) (j-i + 1) screening or substituting to obtain a seamA slot track, wherein Pi、PjIs PmIndex position information of front and rear adjacent qualified track points, i<m<j；
Forming a gap track of the whole product by using partial or all gap track point positions according to the gap track of the single scanning data corresponding to the number of scanning points;
according to the relative position of the working part relative to the scanning equipment and the situation of the seam track, converting the relative distance of partial or all seam track points into the working track of the working part, and realizing the guidance (such as welding) of the corresponding working process;
because the position of an operating part (such as a welding head) is different from the position of scanning equipment, the track and the gap obtained by scanning are based on the scanning equipment, so that the relative distance of the welding head according to the coordinate displacement of the scanning equipment needs to be subjected to addition and subtraction conversion during actual welding;
welding the product by a welding gun according to the seam track of the product until the welding is finished; the welding path of the welding head of the welding gun moves according to the seam track stored in the controller of the platform.
A device for scanning, guiding and welding a space gap comprises an XYZR four-axis platform or an XYZRU five-axis platform, wherein an R axis is used for driving a product to rotate or an R, U axis is used for driving the product to rotate and swing, and the XYZ axis is used for driving a scanning device to move at the upper side or driving the R axis or R, U axis platform and the product to move at the lower side;
further comprising:
the analysis module is used for calculating an integral scanning track according to the relative position of the product relative to the scanning equipment and the outline of the product;
the motion control module is used for controlling the XYZR four-axis platform or the XYZRU five-axis platform to drive the product to move along the whole scanning track, and the actual outline of the product is obtained through scanning equipment;
and the calculation module is used for calculating and extracting the gap track according to the actual contour of the product.
Further, the device also comprises a work guiding module which is used for converting the seam track of the product into the work track of the work component according to the relative position of the work component relative to the scanning device so as to realize guiding welding.
The application of a space scanning positioning gap is used for guiding an operation part to weld or glue a product according to the gap track of the product;
according to the relative position of the operation part relative to the scanning device, the gap track of the product is converted into the operation track of the operation part as a reference, and welding or dispensing is conducted on the product in a guiding mode.
The invention has the beneficial effects that:
1. after the shape of the product is calculated and scanned, the scanning path is dynamically calculated, and after an integral scanning track is obtained, the product is driven to run along the integral scanning track, so that the actual profile of the product is obtained; subsequently extracting a gap track through corresponding processing; the efficiency of obtaining the product gap track is greatly improved, and the efficiency of performing related procedures such as welding or dispensing and the like according to the gap track guidance can be correspondingly promoted; the scanning and positioning accuracy of the seam track is improved, the accuracy of the starting position and the finishing position of the seam position is ensured, the accuracy of the space seam is promoted, and the method effectively helps to execute related procedures of products, particularly precision welding or glue dispensing and the like;
2. according to the invention, the operation track can guide the operation part to carry out subsequent working procedures such as welding and the like only by finely adjusting the gap track of the product, so that the operation precision such as welding and the like is ensured, and the operation efficiency is improved;
3. the product is visually positioned by the mobile camera, the coordinates of the picking position are corrected, the relative positions of the product relative to the scanning equipment are consistent when the product is in the initial scanning position and is subjected to operation such as welding each time, and the positioning precision of the gap is further improved, so that the precision and the efficiency of executing relevant processes on the product are improved.
Drawings
FIG. 1 is a flowchart of a method for spatially scanning and positioning a gap according to embodiment 1 of the present invention;
FIG. 2 is a flowchart of a method for spatially scanning and positioning a gap according to embodiment 2 of the present invention;
FIG. 3 is a first flowchart of a method for positioning a slot for spatial scanning according to the present invention;
FIG. 4 is a flowchart of a second method for spatially scanning and positioning slot applications of the present invention;
FIG. 5 is a cross-sectional view of a welded product of example 6 of the present invention;
FIG. 6 is a schematic diagram of the outer contour of the side linear surface of the step-scan product of the laser line scan sensor in accordance with embodiment 6 of the present invention;
FIG. 7 is a schematic diagram of the outer contour of the side curved surface of the step-scan product with the laser line scan sensor in accordance with embodiment 6 of the present invention;
FIG. 8 is a profile of a laser line scan sensor scanning a perimeter of a product in accordance with example 6 of the present invention;
FIG. 9 is a scan data profile of the present invention;
fig. 10 is a diagram illustrating the effect of the embodiment 6 of the present invention after welding according to the seam track of the scanned product.
Detailed Description
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. The present invention is not limited to the following embodiments, and those skilled in the art can implement the present invention in other embodiments according to the disclosure of the present invention, or make simple changes or modifications on the design structure and idea of the present invention, and fall into the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Embodiment 1 referring to fig. 1, this embodiment is a method for positioning a slit by spatial scanning, and includes the following steps:
calculating an integral scanning track according to the relative position of the product relative to the scanning equipment and the outline of the product;
driving the product to move along the integral scanning track, and obtaining the actual profile of the product through scanning equipment;
and calculating and extracting a gap track according to the actual contour of the product.
After the shape of the product is calculated and scanned, dynamically calculating a scanning path to obtain an overall scanning track, and then driving the product to move along the overall scanning track to obtain the actual profile of the product; subsequently extracting a gap track through corresponding processing; the efficiency of obtaining product gap orbit has been improved greatly. Correspondingly, the efficiency of subsequent corresponding procedure treatment along the welding line, such as welding or dispensing, can be promoted, so that the efficiency of procedures such as welding or dispensing is promoted to be improved; and the scanning and positioning accuracy of the seam track is improved, the accuracy degree of the starting position and the finishing position of the seam position is ensured, the accuracy degree of the space seam is promoted, and effective help is formed for the procedures of precision welding or glue dispensing and the like.
Example 2
Referring to fig. 2, the embodiment is a method for positioning a slit by spatial scanning, and the method includes the following steps:
s1, placing the product in the area to be corrected, and correcting the initial position of each scanning and the relative position of the product relative to the scanning equipment;
s2, calculating the total scanning point number and the multi-dimensional coordinate of the corresponding scanning position according to the relative position of the product relative to the scanning equipment and the overall track length and the stepping interval of the outline of the product to obtain an overall scanning track;
s3, driving the product to move along the whole scanning track, and obtaining the actual profile of the product through scanning equipment;
and S4, calculating and extracting the gap track according to the actual contour of the product.
Example 3
On the basis of embodiment 1 or embodiment 2, specifically, in S1, correcting the start position of each scanning is to perform visual positioning on the product by moving the camera, correct the coordinates of the pickup position, further control the pickup mechanism to accurately pick up the product, ensure that the start scanning position of each product is consistent with the relative position of the product with respect to the scanning device; the calculation of the multidimensional coordinate of the scanning position is that the scanning equipment scans the outline of the product according to the stepping interval, and the multidimensional coordinate point set of the scanned product is calculated according to the initial coordinate to form the scanning track of the product;
the relative position of the relative scanning equipment is at the initial scanning moment, the position of the scanning equipment, which is just opposite to the product gap, is set as a product initial operation position, D is set as the linear distance between the scanning light ray emission point of the scanning equipment and each outline point of the product, and when the emergent direction of the scanning light ray is basically vertical to the outline tangent line of the product at the irradiated position, D is set, the product moves with the platform in multiple dimensions with the stepping distance as D, so that the D value of each outline point of the product is ensured to be equal. Thereby, it can be ensured that the product gap is always at the optimum measuring position for scanning the line of light, e.g. laser.
More specifically, in S2, the total scan point count calculation includes the following steps:
s21, setting the position coordinates of the scanning equipment as initial coordinates, enabling the product to move in multiple dimensions along with the platform, setting the multi-dimensional coordinates of each scanning position on the outline of the product, setting the step interval of the platform as d, scanning the outline of the product from the initial scanning position by the scanning equipment, and obtaining the outline of the product after scanning, wherein the length of the overall track of the outline is S;
further, the product outline is represented by combination of a straight line and an arc, the starting point of the straight line is LP1, the central point of the arc is AP1, the product outline trajectory obtained by scanning is a combination of LPN and APN, N is a positive integer greater than 0, wherein LP1.. N is a straight line point on a straight line segment, AP1.. N is an arc point on a curve segment, and two straight lines in front of and behind the AP and the AP jointly determine an arc; the length S of the whole track of the outline of the product is obtained through accumulative calculation of the lengths of the straight line sections and the circular arc sections on the outline track;
preferably, the product outline is obtained by scanning a straight line segment, the starting point of the straight line is LP11, and the trajectory of the product outline is LPMN, where M and N are positive integers greater than 0, where lp11..1N is a straight line point on the first straight line segment, and lpm1.. MN is a straight line point on the mth straight line segment; the length S of the whole track of the outline of the product is obtained through the accumulated calculation of the lengths of the M straight-line segments on the outline track;
further, the multidimensional coordinate of the scanning position is calculated by scanning the outline of the product by the scanning equipment according to the stepping interval, and the multidimensional coordinate point set of the scanned product is calculated according to the initial coordinate to form the scanning track of the product;
and S22, calculating the total scanning point number a of the outline = the whole track length/step distance = S/d.
As a specific implementation manner, in S4, analyzing the height of each piece of scan data, that is, a gradient curve, by using a Sobel algorithm to obtain a characteristic position with an obvious height change, and finally obtaining a confidence gap position after filtering, where the gap trajectories corresponding to multiple confidence gap positions form the gap trajectory of the whole product; it should be noted that, the invention may also use other algorithms in the prior art to calculate the processing slit trajectory, which is not limited herein.
Example 4
On the basis of the above embodiment, by using an xyz r four-axis or an xyz ru five-axis motion platform, for the case that the product gap is on different continuous sides, the following scanning manner may be adopted: the R axis or RU axis drives the product to rotate at the lower side, and the XYZ axis can be used in a manner of driving the scanning device such as the laser line scanning sensor to move at the upper side or driving the R axis or RU axis platform to move at the lower side.
Comprises the steps of (a) preparing a mixture of a plurality of raw materials,
1) the laser line scanning sensor and an operation part such as a welding nozzle move in the X-axis direction, and the platform where the product is located performs YZR three-axis linkage at the bottom;
or:
2) the laser line scanning sensor and the welding nozzle move in the ZX direction, and the platform where the product is located performs YR two-axis linkage; or:
3) the laser line scanning sensor and the welding nozzle move in the XYZRU direction, and the product is fixed on the platform.
4) The laser line scanning sensor and the welding nozzle move in the XYZR direction, and the platform where the product is located performs U axis linkage;
or:
5) the laser line scanning sensor and the welding nozzle move in XYZ directions, and the platform where the product is located performs RU two-axis linkage;
or:
6) the laser line scanning sensor and the welding nozzle move in the X direction, and the platform where the product is located performs YZRU three-axis linkage;
it is noted and made clear that: the arrangement of the four-axis and five-axis linkage platforms formed by the laser line scanning sensor, the operation parts such as the welding tip and the product to be operated is not exhaustive, and the arrangement mode capable of realizing four-axis and five-axis linkage is within the protection scope of the invention.
Example 5
The embodiment provides a device for spatially scanning and positioning a gap, which includes an XYZ cr four-axis platform or an XYZ ru five-axis platform, where the R axis is used to drive a product to rotate or the R, U axis is used to drive a product to rotate and swing, and the XYZ axis is used to drive a scanning device to move on an upper side or drive the R axis or the R, U axis platform and the product to move on a lower side; further comprising:
the analysis module is used for calculating an integral scanning track according to the relative position of the product relative to the scanning equipment and the outline of the product;
the motion control module is used for controlling the XYZR four-axis platform or the XYZRU five-axis platform to drive the product to move along the whole scanning track, and the actual outline of the product is obtained through scanning equipment;
and the calculation module is used for calculating and extracting the gap track according to the actual contour of the product.
As a preferred embodiment, the system further comprises a job guiding module, configured to convert the slit trajectory into a job trajectory of the job component according to a relative position of the job component with respect to the scanning device, so as to implement guidance of a corresponding job process. In practical applications, one logic unit may be one physical unit, may be a part of one physical unit, and may also be implemented by a combination of multiple physical units.
Based on the above embodiments, an application of spatial scanning to position the gap may also be provided, as shown in fig. 3 and 4, for guiding the working component to weld or dispense the product with reference to the gap track; according to the relative position of the operation part relative to the scanning device, the gap track is used as a reference to be converted into the operation track of the operation part, and corresponding processes such as welding or dispensing are conducted on the product. In practical application, the method and the device for spatially scanning and positioning the gap can be expanded in application, and are not limited to the field of dispensing or welding.
Example 6
In this embodiment, specifically, four axes XYZR are taken as an example, the Z axis drives the laser line scanning sensor to move synchronously on the upper side, and the XYR axis drives the product to be welded to move along the XY axis and rotate around the R axis on the lower side; to further explain the above embodiments, the method for spatially scanning and positioning a slit in this embodiment specifically includes:
s1, placing the product in the area to be corrected, and correcting the initial position of each scanning and the relative position of the product relative to the scanning equipment;
s2, calculating the total scanning point number and the multi-dimensional coordinate of the corresponding scanning position according to the relative position of the product relative to the scanning equipment and the overall track length and the stepping interval of the outline of the product to obtain an overall scanning track;
s21, the laser line scanning sensor is fixed, the position coordinate is an initial coordinate, the product rotates in three X, Y and Z directions and in an R axial direction along with an XYZR four-axis platform, the coordinate (X, Y, Z and R) of each scanning position on the outline of the product is set, the step interval of the platform is d, the laser line scanning sensor scans the outline of the product from the initial scanning position, the outline of the product is obtained after scanning, and the length of the whole track of the outline is S;
as shown in fig. 5, a cross-sectional view of a product scanned by an XYZR four-axis platform is shown, where a product contour is composed of 2 linear surfaces and 2 sections of curved surfaces, a starting point of a straight line is LP1, a central point of an arc is AP1, and a contour trajectory of the product contour is set as [ LP1, LP2, AP1, LP3, LP4, AP2, LP5, LP6, AP3, LP7, LP8, and AP4], where lp1.. N is a linear point on a linear surface, and AP1.. N is an arc point on a curved surface, and coordinates are (X, Y, Z); the front and back straight lines of the AP and the AP jointly determine an arc;
s22, calculating the total scanning point number a of the outline = the whole track length/step distance = S/d;
further, the relative position of the laser line scanning sensor is at the initial scanning moment, the position of the laser line scanning sensor, which is over against the product gap, is set as the initial operation position of the product, and D is the linear distance between the scanning light ray emission point of the laser line scanning sensor and each outline point of the product;
the upper half of fig. 6 is a schematic view of a first scanning point of a straight line segment S1 (formed by LP1 and LP 2) of a product scanned by a laser line sensor, a laser ray of the laser line sensor is perpendicular to an x-axis tangential direction of the first scanning point of the straight line segment of the product, and a distance between a laser emission point and the first scanning point is D;
the lower half of fig. 6 is a schematic diagram of a second scanning point of a linear section of a product scanned by the laser line scanning sensor after the product is scanned by a step distance D along the X direction of the XYZR four-axis platform, a laser ray of the laser line scanning sensor is perpendicular to the X-axis tangential direction of the second scanning point of the linear section of the product, and the distance between a laser emission point and the second scanning point is D;
FIG. 7 is a schematic diagram of a first scanning point of a curved curve segment S2 (composed of LP2, AP1 and LP3, for example) of a cross-section of a product scanned by a laser line sensor, wherein a laser ray of the laser line sensor is perpendicular to an x-axis tangential direction of a first scanning point of the curved curve segment of the product, and a distance D exists between a laser emission point and the first scanning point;
FIG. 7 is a right-half view of a scanned product at a second scanning point of the curved section of the cross section of the product scanned by the laser line scanning sensor after the product is scanned by stepping the arc length spacing D along with the XYZR four-axis platform, wherein the laser ray of the laser line scanning sensor is perpendicular to the tangential direction of the x axis of the second scanning point of the line section of the product area, and the distance between the laser emitting point and the first scanning point is D;
further, the multidimensional coordinate of the scanning position is calculated by scanning the outline of the product by the scanning equipment according to the stepping interval, and the multidimensional coordinate point set of the scanned product is calculated according to the initial coordinate to form the scanning track of the product;
scanning the product for one week to obtain a four-dimensional coordinate point set consisting of four-dimensional coordinate points of the product, namely the whole scanning track of the product; FIG. 8 is a profile of a product scanned by a laser line scan sensor for one cycle;
s3, driving the product to move along the whole scanning track, and obtaining the actual profile of the product through scanning equipment;
s4, calculating and extracting a gap track through an algorithm according to the actual contour of the product;
analyzing a gradient curve of each piece of scanning data through a Sobel algorithm to obtain a characteristic position with obvious height change, finally obtaining a confidence gap position through filtering processing, and forming a gap track of the whole product by the gap tracks corresponding to a plurality of confidence gap positions;
as shown in fig. 9, which is a profile of a scan data, it can be seen that there is an obvious gradient drop, in order to take account of the continuity of the front and rear tracks, the large point of the gradient drop needs to be corrected before welding, and the corrected new track is a gap track, and the correction process includes the following steps:
s41, let the data set of the first piece of scan data be { X11、X12…X1nCalculating gradient value of the data set of each piece of scanning data through Sobel algorithm to obtain a gradient value set
Calculating the arithmetic mean of the gradient value set:
obtaining a gradient difference set according to the arithmetic mean of the gradient value set and the gradient value set
Wherein
In which 1 is<=k<= n; from sets of gradient differences
Calculating the arithmetic mean of the gradient difference set:
；
s42, when the gradient value set
A certain point in
Then, keeping the position information of the gradient value set points to carry out aggregation to obtain the index position of the qualified track point, wherein 1=<m<= n; for information beyond 1 index position or information missing 1 index position, the arithmetic mean value P is calculated using the index position information before and afterm=（Pi+……+Pj) (j-i + 1) after screening or replacement, a gap trajectory is obtained, wherein Pi、PjIs PmIndex position information of front and rear adjacent qualified track points, i<m<j；
S43, forming the slit track of the whole product by partial or all slit track point positions according to the slit track of the single scanning data corresponding to the number of scanning points;
s5, converting the relative distance of part or all of the seam track points into the operation track of the welding part according to the relative position of the welding part relative to the scanning equipment and the condition of the seam track, and performing guide welding;
welding the product by a welding gun according to the seam track of the whole product until the welding is finished; fig. 10 is an effect diagram after welding the product according to the seam track of the whole product.
Providing a specific application example, adopting an XYZR four-axis platform, wherein a Z axis drives a laser line scanning sensor to synchronously move on the upper side, and the XYR axis drives a product to be welded to move along an XY axis and rotate along an R axis on the lower side; in the movement process of the product along with the XYR platform, the laser line scanning sensor is driven to follow through the Z axis to perform gap scanning guiding welding:
s1, placing the product in the area to be corrected, and correcting the consistency of the initial position of each scanning and the relative position of the product relative to the scanning equipment;
s2, calculating the total scanning point number and the multidimensional coordinates (Y, Z, R) of the corresponding scanning position according to the relative position of the product relative to the scanning equipment and the overall track length and the stepping distance of the outline of the product to express the overall scanning track of the product:
91.50,30.00,0.00
92.00,30.00,0.00
92.50,30.00,0.00
93.00,30.00,0.00
93.50,30.00,0.00
……
90.24,29.79,178.47
90.74,29.79,178.47
91.24,29.79,178.47
91.74,29.79,178.47
……
101.15,23.87,328.50
99.81,24.28,331.79
98.52,24.76,335.06
97.26,25.32,338.31
96.05,25.94,341.54
94.90,26.61,344.73
93.80,27.35,347.89；
s3, driving the product to move along the whole scanning track, and obtaining the actual profile of the product through scanning equipment;
s4, scanning height information by the laser line scanning sensor according to the actual contour of the product, wherein the scanned height information data (-32768 is the scanned empty position and invalid information) is as follows:
-32768,-32768,-32768,-32768,-32768,
……
0.9848,0.982,0.9826,0.9834,0.898,0.9092,0.9112
……
0,0,0,0,0,0；
the corresponding gradient profile data are:
0,0,0,0,0,0
……
-0.02080011,-0.00880003,0.005599976,-0.3383999,-0.296799,0.05279994,0.09200001
……
0,0,0,0,0,0；
analyzing the gradient curve of each piece of scanning data, and for each piece of scanning data of the number of scanning points, collecting position information (-0.3383999, -0.2967999) meeting the gradient value > the arithmetic mean of the gradient difference set to obtain the index position of the qualified track point:
641,
641,
641,
641,642,
641,
641,
……
641,
641；
the gradient values are further screened, for information exceeding 1 confidence position or information lacking 1 confidence position, screening or replacement needs to be performed by referring to front and rear average index positions, where 641 and 642 need to select a position 641 closest to the average according to front and rear (641+641)/2, so as to obtain the most reasonable position 1 (namely a gap position), that is;
641,
641,
……
641,
641；
obtaining a gap track;
s5, converting the relative distance of partial seam track point points into the real position of the seam to be welded according to the relative position of the welding part relative to the scanning equipment and the seam track condition and the resolution of line scanning; the calculated welding position (X, Z, Y, R) is:
-3.408,0.932,91.500,0.000
-3.408,0.932,92.000,0.000
-3.408,0.932,92.500,0.000
……
-3.408,0.924,97.261,338.313
-3.408,0.924,96.052,341.537
-3.408,0.931,94.896,344.731
-3.408,0.924,93.796,347.890。
and finishing the space gap scanning guide welding process.
The method has the advantages that after the shape of the product is calculated and scanned, the scanning path is dynamically calculated, and after the integral scanning track is obtained, the product is driven to run along the integral scanning track, so that the actual profile of the product is obtained; subsequently extracting a gap track through corresponding processing; the efficiency of obtaining the product gap track is greatly improved, and the efficiency of the working procedures such as welding or dispensing is promoted to be improved; and the precision of the gap track is improved, the precision of procedures such as welding or glue dispensing of the space gap is improved, and the precision welding or glue dispensing is effectively assisted.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A method for positioning a gap by space scanning is characterized by comprising the following steps:
calculating an integral scanning track according to the relative position of the product relative to the scanning equipment and the outline of the product;
the calculation of the overall scanning track is as follows: calculating to obtain the total scanning point number and the multi-dimensional coordinates of the corresponding scanning position according to the relative position of the product relative to the scanning equipment and the overall track length and the stepping interval of the outline of the product, so as to obtain the overall scanning track;
the calculation of the total scanning point number comprises the following steps: setting the position coordinate of the scanning device as an initial coordinate, enabling the product to move in multiple dimensions along with the platform, setting the multi-dimensional coordinate of each scanning position on the outline of the product, setting the step interval of the platform as d, scanning the outline of the product from the initial scanning position by the scanning device, obtaining the outline of the product after scanning, setting the overall track length of the outline as S,
calculating the total scanning point number a of the outline = the whole track length/stepping interval = S/d;
driving the product to move along the integral scanning track, and obtaining the actual profile of the product through scanning equipment;
and extracting the gap track through an algorithm according to the actual contour of the product.
2. The method for spatially scanning and locating a slot as recited in claim 1, wherein: and the calculation of the multidimensional coordinate of the scanning position is that the scanning equipment scans the outline of the product according to the stepping interval, and the multidimensional coordinate point set of the scanned product is calculated according to the initial coordinate to form the scanning track of the product.
3. The method for spatially scanning and locating a gap as in claim 1, wherein said calculating an overall scanning trajectory based on the relative position of the product with respect to the scanning device and the product profile comprises: correcting the initial position of each scanning to make the relative position of the product relative to the scanning device consistent.
4. A method for spatially scanning a positional gap as defined in claim 3, wherein: correcting the initial position of each scanning, namely performing visual positioning on the product by moving the camera, correcting the coordinates of the picking position, further controlling the picking mechanism to accurately pick the product, and ensuring the initial scanning position of the product each time to ensure that the relative positions of the product relative to the scanning equipment are consistent;
the relative position of the relative scanning device is at the initial scanning moment, the position of the scanning device, which is just opposite to the product gap, is set as a product initial operation position, D is set as the linear distance between the scanning light ray emission point of the scanning device and each outline point of the product, when the emergent direction of the scanning light ray is basically vertical to the outline tangent line of the product at the irradiated position, D is set, the product moves with the platform in multiple dimensions with the stepping distance as D, and the D value of each outline point of the product is ensured to be equal.
5. The method for positioning the slit through spatial scanning according to claim 1, wherein the processing step for extracting the slit trajectory is:
and analyzing the gradient curve of each piece of scanning data through a Sobel algorithm to obtain a characteristic position with obvious height change, and finally obtaining a confidence gap position through filtering processing, wherein the gap tracks corresponding to a plurality of confidence gap positions form the gap track of the whole product.
6. The method for locating a slit through spatial scanning according to claim 5, wherein the calculation process of the scanning data comprises the following steps:
let the data set of the first piece of scan data be { X11、X12…X1nCalculating gradient value of the data set of each piece of scanning data through Sobel algorithm to obtain a gradient value set
Calculating the arithmetic mean of the gradient value set:
obtaining a gradient difference set according to the arithmetic mean of the gradient value set and the gradient value set
Wherein
In which 1 is<=k<= n; from sets of gradient differences
Calculating the arithmetic mean of the gradient difference set:
；
when gradient value set
A certain point in
Then, keeping the position information of the gradient value set points to carry out aggregation to obtain the index position of the qualified track point, wherein 1=<m<= n; for information beyond 1 index position or information missing 1 index position, the arithmetic mean value P is calculated using the index position information before and afterm=（Pi+……+Pj) (j-i + 1) to obtain a gap track, wherein P isi、PjIs PmIndex position information of front and rear adjacent qualified track points, i<m<j；
And forming the slit track of the whole product by using partial or all slit track point positions according to the slit track of the single scanning data corresponding to the number of scanning points.
7. The method of spatially scanning positioning slots of claim 1, wherein said stage comprises an XYZR four-axis stage or an XYZRU five-axis stage.
8. The method for spatially scanning and locating a slot as recited in claim 1, wherein: the scanning device adopts a laser line scanning sensor.
9. An apparatus for using the method of spatial scanning and positioning the slit according to any one of claims 1 to 8, wherein:
the system comprises an XYZR four-axis platform or an XYZRU five-axis platform, wherein an R axis is used for driving a product to rotate or an R, U axis is used for driving the product to rotate and swing, and an XYZ axis is used for driving a scanning device to move at the upper side or driving an R axis or R, U axis platform and the product to move at the lower side;
further comprising:
the analysis module is used for calculating an integral scanning track according to the relative position of the product relative to the scanning equipment and the outline of the product;
the motion control module is used for controlling the XYZR four-axis platform or the XYZRU five-axis platform to drive the product to move along the whole scanning track, and the actual outline of the product is obtained through scanning equipment;
and the calculation module is used for calculating and extracting the gap track according to the actual contour of the product.
10. Use of the method for spatially scanning and locating a slit according to any one of claims 1 to 8, wherein: the device is used for guiding the operation component to weld or glue the product according to the seam track of the product;
according to the relative position of the operation part relative to the scanning device, the gap track of the product is converted into the operation track of the operation part as a reference, and welding or dispensing is conducted on the product in a guiding mode.
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