CN213196231U - Welding seam tracking robot - Google Patents
Welding seam tracking robot Download PDFInfo
- Publication number
- CN213196231U CN213196231U CN202021889021.0U CN202021889021U CN213196231U CN 213196231 U CN213196231 U CN 213196231U CN 202021889021 U CN202021889021 U CN 202021889021U CN 213196231 U CN213196231 U CN 213196231U
- Authority
- CN
- China
- Prior art keywords
- robot
- welding seam
- laser
- base
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a welding seam tracking robot, include: the driving mechanism is used for driving the inspection robot to walk; the bottom of the base is provided with a driving mechanism; the laser emitting device is fixedly arranged at the bottom of the base and used for emitting line laser to irradiate the surface of an object containing a welding line; the upper part of the base is provided with a detection camera which is used for acquiring an image of the surface of an object of a welding line irradiated by line laser; the device further comprises an image processing device, wherein the image processing device is used for tracking the center position of the welding seam of the acquired image, and the image processing device is electrically connected with the detection camera. And the control device receives the information of the image processing device and controls the driving mechanism to move to the central position. The method reduces the detection flow, improves the detection efficiency, and searches the center position of the welding seam in a gradient calculation mode, so that the robot automatically tracks the center position of the welding seam, and the welding seam tracking accuracy is improved.
Description
Technical Field
The utility model relates to a welding seam tracking technology field, in particular to can realize the method of automatic tracking welding seam and the tracking means of welding seam.
Background
The special equipment inspection and detection work is an important measure for executing the safety regulation of the special equipment in China and ensuring the safe and economic operation of the special equipment, and is complex labor with high risk, a plurality of dangerous faces and harmful factors and special technical requirements. The detection of the welding seam occupies a large share, and especially for special equipment such as large structural members, pressure vessels and the like, the development and development of an automatic welding seam detection system meeting the field conditions replace manual detection operation, so that the method has very important practical significance.
In the prior art, two laser transmitters are needed to realize weld seam tracking, the cost is high, the two laser transmitters are matched with each other, errors are easily caused, in addition, the weld seam is only tracked before the weld seam is not welded, and the detection after the weld seam is finished is not involved.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that equipment cost is high when current welding seam is trailed, causes the error moreover easily, the utility model provides a welding seam tracking robot of low cost, low error.
In order to achieve the above object, an aspect of the present application provides a bead tracking robot including: the driving mechanism is used for driving the inspection robot to walk; the bottom of the base is provided with a driving mechanism; the laser emitting device is fixedly arranged at the bottom of the base and used for emitting line laser to irradiate the surface of an object containing a welding line; the upper part of the base is provided with a detection camera which is used for acquiring an image of the surface of an object of a welding line irradiated by line laser; the image processing device is used for tracking the central position of the welding seam of the acquired image, and is electrically connected with the detection camera;
and the control device receives the data information of the image processing device and controls the driving mechanism to move to the central position.
Further, the laser emitting device has a laser generator that emits green line laser light.
Further, the installation height of the detection camera is larger than that of the laser generating device.
Further, the mounting bracket setting is at the base front end, detects the movably installation of camera on the mounting bracket.
Furthermore, the laser emitting device and the detection camera are both located at the front end of the base.
Further, an angle between an extension line of the laser emitting device in the length direction and an extension line of the detection camera in the length direction is an acute angle.
Further, the tracking process includes: extracting the characteristics of a line laser irradiation area contained in the image; filtering the characteristics of the line laser irradiation area to obtain the shape of the line laser irradiation area; reducing the longitudinal width of the line laser irradiation area to one pixel width; and performing gradient calculation on all pixels of the reduced line laser irradiation area, and finding out the central position of the welding seam according to the positive and negative changes of the gradient.
Further, the extracting the feature of the line laser irradiation region included in the image includes: and carrying out self-adaptive binarization processing on the image to obtain the shape of the linear laser irradiation area.
Further, the extracting the feature of the line laser irradiation region included in the image includes: and carrying out binarization processing of a fixed threshold value on the image to obtain the shape of the linear laser irradiation area.
The beneficial effects of the utility model reside in that: the laser generating device and the detection camera are arranged in the robot, so that automatic detection and identification of the welding seam on the surface of an object containing the welding seam are realized, the robot automatically tracks and detects the identified welding seam, manual intervention is not needed in the whole process, and the tracking efficiency of the welding seam is greatly improved.
Drawings
FIG. 1 is a structural diagram of a middle welding seam tracking robot of the present invention;
fig. 2 is a structural diagram of the control device of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
As shown in fig. 1-2, a weld tracking robot 10 includes: the driving mechanism 11 is used for driving the inspection robot 10 to walk; a base 12, wherein the bottom of the base 12 is provided with a driving mechanism 11; the bottom of the base 12 is fixedly provided with a laser emitting device 13 for emitting line laser to irradiate the surface of an object containing a welding seam; the upper part of the base 12 is provided with a detection camera 14 for acquiring an image of the object surface of the welding seam irradiated by the line laser; the image processing device 15 is used for tracking the center position of the welding seam of the acquired image, wherein the image processing device 15 is electrically connected with the detection camera 14; and a control device 18, wherein the control device 18 receives the data information of the image processing device 15 and controls the driving mechanism 11 to move to the central position. Wherein the control device 18 is electrically connected with the image processing device 15;
since most of the surfaces of the weld joints to be detected are rusty red, if similar red line laser is used, the image recognition rate is not high, and therefore, in order to improve the contrast of image acquisition, the laser emitting device 13 is provided with a laser generator 16 which emits green line laser.
The installation height of the detection camera 14 is larger than that of the laser generating device, so that the whole image acquisition is square and convenient for subsequent image processing.
The laser emitting device 13 and the detection camera 14 are both positioned at the front end of the base 12.
The angle between the extension line of the laser emitting device 13 in the length direction and the extension line of the detection camera 14 in the length direction is an acute angle, so that the detection camera is convenient to shoot in alignment with the weld area.
The tracking processing includes: extracting the characteristics of a line laser irradiation area contained in the image; filtering the characteristics of the line laser irradiation area to obtain the shape of the line laser irradiation area; reducing the longitudinal width of the line laser irradiation area to one pixel width; and performing gradient calculation on all pixels of the reduced line laser irradiation area, and finding out the central position of the welding seam according to the positive and negative changes of the gradient.
The extracting of the feature of the line laser irradiation region included in the image includes: and carrying out self-adaptive binarization processing on the image to obtain the shape of the line laser irradiation area.
The extracting of the feature of the line laser irradiation region included in the image includes: and carrying out binarization processing on the image by fixing a threshold value to obtain the shape of the linear laser irradiation area.
The adaptability of the green laser under different working conditions is stronger; after a line laser transmitter irradiates the surface of an object to be detected, shooting the surface of the object which is irradiated by line laser and contains a welding line by using a video camera or a camera and the like, taking the image as an original image to wait for subsequent processing, and extracting the characteristics of a line laser irradiation area contained in the image; specifically, a green channel of an original image is extracted, all pixel points of the green channel are traversed, and a method for extracting features in the next step is determined according to the proportion of the pixel points exceeding a threshold value to the total number; the extraction method is mainly divided into three types, wherein the first method is to directly carry out self-adaptive binarization treatment; the second is binarization processing of a fixed threshold value; the binarization of the image is to set the gray value of a pixel point on the image to be 0 or 255, that is, the whole image has an obvious visual effect of only black and white.
The utility model discloses a welding seam tracking method principle be, pass through line laser and shine the welding seam, carry out a series of processing such as binaryzation, filtering, gradient calculation to the image after that, the central point that obtains the welding seam at last puts, and this method has reduced the detection flow, improves detection efficiency, and the central point that seeks the welding seam through the mode that the gradient calculated moreover puts the degree of accuracy height.
And finally, tracking the surface of an object containing the welding seam by the robot 10, shooting by using the detection camera 14 to obtain an image, processing the image by using the image processing device 15 to obtain the central position of the welding seam, realizing full-automatic detection of the welding seam, and finally controlling the robot 10 to track the movement of the central position of the welding seam, so that manual intervention is not needed in the whole detection process, and the tracking efficiency is greatly improved.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (6)
1. A weld tracking robot, comprising:
the driving mechanism is used for driving the inspection robot to walk;
the bottom of the base is provided with a driving mechanism;
the laser emitting device is fixedly arranged at the bottom of the base and used for emitting line laser to irradiate the surface of an object containing a welding line;
the upper part of the base is provided with a detection camera which is used for acquiring an image of the surface of an object of a welding line irradiated by line laser;
the image processing device is used for tracking the central position of the welding seam of the acquired image, and is electrically connected with the detection camera;
and the control device receives the data information of the image processing device and controls the driving mechanism to move to the central position.
2. The robot of claim 1, wherein: the laser emitting device has a laser generator that emits green line laser light.
3. The robot of claim 2, wherein: the installation height of the detection camera is larger than that of the laser generating device.
4. A robot as claimed in claim 3, wherein: the mounting bracket, the mounting bracket setting is at the base front end, and the movably installation of detection camera is on the mounting bracket.
5. The robot of claim 4, wherein: the laser emitting device and the detection camera are both located at the front end of the base.
6. The robot of claim 5, wherein: the angle between the extension line of the laser emitting device in the length direction and the extension line of the detection camera in the length direction is an acute angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021889021.0U CN213196231U (en) | 2020-09-02 | 2020-09-02 | Welding seam tracking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021889021.0U CN213196231U (en) | 2020-09-02 | 2020-09-02 | Welding seam tracking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213196231U true CN213196231U (en) | 2021-05-14 |
Family
ID=75843427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021889021.0U Active CN213196231U (en) | 2020-09-02 | 2020-09-02 | Welding seam tracking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213196231U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551599A (en) * | 2021-07-22 | 2021-10-26 | 江苏省特种设备安全监督检验研究院 | Welding seam position deviation visual tracking method based on structured light guidance |
-
2020
- 2020-09-02 CN CN202021889021.0U patent/CN213196231U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551599A (en) * | 2021-07-22 | 2021-10-26 | 江苏省特种设备安全监督检验研究院 | Welding seam position deviation visual tracking method based on structured light guidance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107798330B (en) | Weld image feature information extraction method | |
| He et al. | Weld seam profile detection and feature point extraction for multi-pass route planning based on visual attention model | |
| LU101680A1 (en) | Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method | |
| CN105458462B (en) | A kind of trapezoidal weld seam multi-parameter synchronizing visual detecting and tracking method of Varied clearance | |
| CN107150953B (en) | A kind of crane direction Precise Position System and method based on machine vision | |
| CN112067623B (en) | Method and system for detecting appearance quality of welding seam of steel structural member | |
| CN107316330B (en) | Underground hydraulic support frame group pose and verticality measuring method based on more image sequences | |
| CN105678776A (en) | Laser vision sensor based weld image feature point extraction method | |
| CN104794720A (en) | Method and system for positioning steady ears in catenary images | |
| JP6191204B2 (en) | Appearance inspection apparatus and appearance inspection method for automobile body | |
| CN112304954A (en) | Part surface defect detection method based on line laser scanning and machine vision | |
| CN112253168A (en) | Automatic assembling method and device for segments of shield tunneling machine | |
| CA3136197C (en) | Apparatus and method for locating tool joint | |
| CN108190774B (en) | A kind of row's rope fault detection method and its device based on projection | |
| CN213196231U (en) | Welding seam tracking robot | |
| CN107316288B (en) | A kind of boom-type roadheader cutterhead pose vision measuring method | |
| CN111967323B (en) | Electric power live working safety detection method based on deep learning algorithm | |
| CN107055331A (en) | Container guides system to case | |
| CN205486309U (en) | Through whether correct device of test capacitor installation of shooing | |
| CN112634269A (en) | Rail vehicle body detection method | |
| CN105068139B (en) | A kind of characterization processes of piston cooling nozzle installment state | |
| CN110950255B (en) | Crane counterweight block alignment detection and control method and equipment and crane | |
| CN113909689B (en) | Pipeline welding groove feature extraction method of laser light bar | |
| CN113551599A (en) | Welding seam position deviation visual tracking method based on structured light guidance | |
| CN110322508A (en) | A kind of assisted location method based on computer vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |