SE543906C2 - Device for determining weld joint geometry with hand-held laser scanner in combination with visual odemetry - Google Patents

Device for determining weld joint geometry with hand-held laser scanner in combination with visual odemetry

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Publication number
SE543906C2
SE543906C2 SE1930347A SE1930347A SE543906C2 SE 543906 C2 SE543906 C2 SE 543906C2 SE 1930347 A SE1930347 A SE 1930347A SE 1930347 A SE1930347 A SE 1930347A SE 543906 C2 SE543906 C2 SE 543906C2
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SE
Sweden
Prior art keywords
weld
laser scanner
weld joint
combination
visual
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SE1930347A
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Swedish (sv)
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SE1930347A1 (en
Inventor
Johan Filip Oscar Jungefeldt
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Johan Filip Oscar Jungefeldt
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Publication date
Application filed by Johan Filip Oscar Jungefeldt filed Critical Johan Filip Oscar Jungefeldt
Priority to SE1930347A priority Critical patent/SE543906C2/en
Publication of SE1930347A1 publication Critical patent/SE1930347A1/en
Publication of SE543906C2 publication Critical patent/SE543906C2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/08—Seam welding not restricted to one of the preceding subgroups
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/24—Electric supply or control circuits therefor
    • B23K11/25—Monitoring devices
    • 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
    • B23K13/00—Welding by high-frequency current heating
    • B23K13/01—Welding by high-frequency current heating by induction heating
    • B23K13/02—Seam welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/044—Seam tracking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/24—Seam welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • 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
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125—Weld quality monitoring
    • 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
    • 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
    • B23K5/00—Gas flame welding
    • B23K5/02—Seam welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • 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
    • 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
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • 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
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G01B11/007—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines feeler heads therefor
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B9/00—Measuring instruments characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Immunology (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Quality & Reliability (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

En handhållen (1) svetsfogs laserskanner (3) utrustad med kamera (4) i kombination med en processorenhet (2) för att skanna en svetsfog (9), och beräkna position och orientering relativt svetsfogen genom visuell odometri och i kombination med punktdata för (10) bestämning av svetsfogens geometri (15).A hand-held (1) weld laser scanner (3) equipped with camera (4) in combination with a processor unit (2) to scan a weld (9), and calculate position and orientation relative to the weld by visual odometry and in combination with point data for ( 10) determination of the geometry of the weld (15).

Description

Anordning för bestämning av svetsfogs geometri med handhållenlaserskanner i kombination med visuell odometri. Device for determining weld joint geometry with hand-held laser scanner in combination with visual odometry.

Tekniskt område:Den här uppfinningen avser en Anordning för bestämning av svetsfogs geometri med handhållenlaserskanner i kombination med visuell odometri. Mer specifikt avser uppfinningen positionsbestämning av en eller flera mätpunkt på en svetsfog genom punkt- och bild-data. Technical Field: This invention relates to a device for determining weld joint geometry with handheld laser scanners in combination with visual odometry. More specifically, the invention relates to the position determination of one or more measuring points on a weld joint by point and image data.

BAKGRUND För uppmätning av en svetsfog i syfte att fastställa svetsfogens geometri används idag huvudsakligentvå mätmetoder. Den traditionella mätningen som utgår från ett svetsmått (Welding Gauge) somgenomförs manuellt av en person. Vilket ger en subjektiv, osäker och tidskrävande uppmätning avsvetsfogens geometri. En annan metod för uppmätning av en punkt eller tvärsnitt på en svetsfog är meden laserskanner. För att mäta hela eller del segment av svetsfogens geometri förs laserskannern längssvetsfogen. Vid användning av en sådan handhållen laserskanner behövs en positionsbestämninggenomföras relativt svetsfogen för att bestämma svetsfogens geometri. Detta görs idag genom ett mäthjul som ligger ann mot mätobj ektet. BACKGROUND For measuring a weld in order to determine the geometry of the weld, two main measuring methods are currently used. The traditional measurement based on a welding measure (Welding Gauge) which is performed manually by one person. Which gives a subjective, uncertain and time-consuming measurement of the weld joint geometry. Another method of measuring a point or cross section on a weld is with a laser scanner. To measure all or some segments of the weld joint geometry, the laser scanner is moved along the weld joint. When using such a hand-held laser scanner, a position determination relative to the weld is needed to determine the geometry of the weld. This is done today through a measuring wheel that rests against the measuring object.

Vid positionering med ett mäthjul finns ett flertal problem såsom, att mäthjulet måste ligga ann motsvetsfogen eller närliggande yta under hela mät förloppet. Positions drift och avvikelse i kombinationmed en hög osäkerheten under vissa förhållanden, såsom mätning på hala underlag då mäthjulet måstefölja ytan precis. Utöver att mätningar i trånga utrymmen, hörn och andra geometrier blir svåra attutföra då det inte går att fysiskt följa en svetsfog med ett mäthjul. I dessa fall blir det både svårt och i vissa fall till och med omöjligt att mäta svetsfogen i sin helhet och en annan lösning behövs. When positioning with a measuring wheel, there are a number of problems, such as the fact that the measuring wheel must lie on the counter-weld joint or adjacent surface during the entire measuring process. Position operation and deviation in combination with a high degree of uncertainty under certain conditions, such as measuring on slippery surfaces when the measuring wheel must follow the surface precisely. In addition, measurements in narrow spaces, corners and other geometries become difficult to perform as it is not possible to physically follow a weld with a measuring wheel. In these cases it becomes both difficult and in some cases even impossible to measure the weld in its entirety and another solution is needed.

PROBLEMLÖSNING Ovannämnda problem kan lösas genom att implementera en positions och orienterings bestämningbaserad på en laserskanner, kamera och processorenhet för bildanalys med visuell odometri. Genom attprocessorenheten jämför konsekutiva bilder av svetsfogen och dess näromgivning, kan den handhållnasvetsfogs laserskanners position och orientering beräknas av processorenheten. Genom att monterakameran på den handhållna laserskannem går det att beräkna de laserskannade mätpunktemas positionlängs svetsfogen. Svetsfogens geometri bestäms genom att kombinera punktdata från laserskannemtillsammans med position och orienterings data som erhållits ur bilddata från kameran och processorenheten genom visuell odometri. TROUBLESHOOTING The above problems can be solved by implementing a position and orientation determination based on a laser scanner, camera and processor unit for visual analysis with visual odometry. Because the processor unit compares consecutive images of the weld and its immediate vicinity, the position and orientation of the handheld weld laser scanner can be calculated by the processor unit. By mounting the camera on the handheld laser scanner, it is possible to calculate the position of the laser-scanned measuring points along the weld joint. The geometry of the weld is determined by combining point data from the laser scanner together with position and orientation data obtained from image data from the camera and processor unit by visual odometry.

FIGURFÖRTECKNING Figur l Övergripande skiss med ut-markerade komponenter i hopmonterat läge Figur 2 Övergripande skiss med ut-markerade komponenter i demonterat läge Figur 3 Förklaring av kamerans synfält och laserkannems synfält Figur 4 Övergripande skiss på den handhållna svetsfogs laserskannem och hur den mätersvetsfogs geometri Figur 5 Flödesdiagram för mätning av svetsfogs geometri. Där skissen illustrerar i tre steg frånvänster till höger: ett objekt med svetsfog, exempel på uppmätning av svetsfogen och den geometriska bestämningen av svetsfogen. LIST OF FIGURES Figure 1 Overall sketch with out-marked components in assembled position Figure 2 Overall sketch with out-marked components in disassembled position Figure 3 Explanation of the camera's field of view and the laser cane's field of view Figure 4 Overall sketch of the handheld welds laser beam and Flow diagram for measuring weld joint geometry. Where the sketch illustrates in three steps from left to right: an object with a weld, examples of measurement of the weld and the geometric determination of the weld.

DE TALJ BE SKRIVNING Den handhållna svetsfogs laserskannem har fyra huvud komponenter, den har en struktur ochanordning (I) som tillåter en person att hålla i svetsfogs skannem. I strukturen (I) fasts en laserskanner (3) som möjliggör att svetsfogen (9) kan mätas upp geometriskt (I 5). THE DETAILED DESCRIPTION The handheld weld laser scanner has four main components, it has a structure and device (I) that allows a person to hold the weld scanner. A laser scanner (3) is fixed in the structure (I) which enables the weld joint (9) to be measured geometrically (I 5).

Kameran (4) placeras på den handhållna enheten så att kamerans synfalt (5) år riktat åt samma håll somlaserskannem synfalt (6). Kameran tar under måtning (14) av svetsfogens (9) geometri fortlöpande,bilder som processorenheten (2) dårefter bearbetar. Processorenheten (2) sitter antingen monterad i denhandhållna svetsfogs laserskannem eller extemt, i det senare fallet överförs inforrnationsdata frånlaserskannem och kameran till den extema processorenheten via ett hårdvaruinterface (12).Processorenheten (2 ) anvånder bilddata från kameran (4 ) för att med tidigare kånda metoder för visuellodometri beråkna en position och orientering för den handhållna svetsfogs laserskannem (I), relativtsvetsfogen (9). Denna position och orientering kombineras med punktdata (10) från laserskannem (3), för att beståmma svetsfogens geometri (I 5) som kan användas för vidare analys.The camera (4) is placed on the handheld device so that the camera's field of view (5) is directed in the same direction as the laser scanner (6). During measurement (14) of the geometry of the weld joint (9), the camera continuously takes images, which are then processed by the processor unit (2). The processor unit (2) is either mounted in the handheld welded laser scanner or in the latter case, in the latter case the information data is transmitted from the laser scanner and the camera to the external processor unit via a hardware interface (12). methods of visual odometry calculate a position and orientation of the hand-held weld laser scanner (I), the relative weld (9). This position and orientation are combined with point data (10) from the laser scanner (3), to determine the geometry of the weld (I 5) which can be used for further analysis.

Claims (1)

1. En handhållen anordning (figur 1 och figur 4) för uppmätning av en svetsfog (figur 5 flödesblock: Svetsfog) med en laserskanner (positionsballong: 3) utrustad med kamera (positionsballong: 4) i kombination med en processorenhet (positionsballong: 2). Kännetecknad av att anordningens position och orientering relativt svetsfogen bestäms genom att bilddata (figur 5 flödesblock: Kamera) från kameran behandlas med en processorenhet (figur 5 flödesblock: Processorenhet) för att bestämma position och orientering med visuell odemetri (figur 5 flödesblock: visuell odemetri) som i kombination med punktdata (figur 5 flödesblock: Laser Skanner) från laserskannern bildar svetsfogens geometri (figur 5 flödesblock: Svetsfogens Geometri).1. A handheld device (figure 1 and figure 4) for measuring a weld joint (figure 5 flow block: Weld joint) with a laser scanner (position balloon: 3) equipped with a camera (position balloon: 4) in combination with a processor unit (position balloon: 2) . Characterized by the fact that the position and orientation of the device relative to the weld is determined by processing the image data (Figure 5 flow block: Camera) from the camera with a processor unit (Figure 5 flow block: Processor unit) to determine position and orientation using visual odemetry (Figure 5 flow block: visual odemetry) which in combination with point data (figure 5 flow block: Laser Scanner) from the laser scanner forms the geometry of the weld joint (figure 5 flow block: Weld Joint Geometry).
SE1930347A 2019-10-28 2019-10-28 Device for determining weld joint geometry with hand-held laser scanner in combination with visual odemetry SE543906C2 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100176106A1 (en) * 2006-02-06 2010-07-15 Kim Hardam Christensen Carriage for Automating Welding, Brazing, Cutting and Surface Treatment Processes
CN204964451U (en) * 2015-09-29 2016-01-13 南车南京浦镇车辆有限公司 Ware is looked into to aluminum alloy, manual sweeping of carbon steel sheet metal welding seam
WO2017115015A1 (en) * 2015-12-29 2017-07-06 Optiweld Oy Method and arrangement for analysing a property of a seam
CN206696238U (en) * 2017-05-16 2017-12-01 长春工业大学 Portable plane overlaps the phased array supersonic quantitative testing device of short weld seam
CN106841386B (en) * 2017-02-15 2018-01-26 吉林大学 Compact hand-held solder joint ultrasound automatic scanning device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100176106A1 (en) * 2006-02-06 2010-07-15 Kim Hardam Christensen Carriage for Automating Welding, Brazing, Cutting and Surface Treatment Processes
CN204964451U (en) * 2015-09-29 2016-01-13 南车南京浦镇车辆有限公司 Ware is looked into to aluminum alloy, manual sweeping of carbon steel sheet metal welding seam
WO2017115015A1 (en) * 2015-12-29 2017-07-06 Optiweld Oy Method and arrangement for analysing a property of a seam
CN106841386B (en) * 2017-02-15 2018-01-26 吉林大学 Compact hand-held solder joint ultrasound automatic scanning device
CN206696238U (en) * 2017-05-16 2017-12-01 长春工业大学 Portable plane overlaps the phased array supersonic quantitative testing device of short weld seam

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
https://servo-robot.com/portable-inspection/ *

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