CN101406978A - Real-time detection method based on DSP brazing seam position - Google Patents
Real-time detection method based on DSP brazing seam position Download PDFInfo
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- CN101406978A CN101406978A CN 200810202989 CN200810202989A CN101406978A CN 101406978 A CN101406978 A CN 101406978A CN 200810202989 CN200810202989 CN 200810202989 CN 200810202989 A CN200810202989 A CN 200810202989A CN 101406978 A CN101406978 A CN 101406978A
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Abstract
The invention relates to a welding seam position real-time detection method based on DSP, which comprises the following steps: 1) acquiring an analog video welding seam image through a CCD image acquisition device, and converting a PAL analog video signal of the welding seam image into a digital color difference signal through a programmable decoder; 2) using EDMA to store the welding seam image into a memory; 3) using a digital signal processor to perform real-time processing and analysis on the welding seam image, extract information such as the center position of a welding seam, the width of the welding seam and so on, and produce a corresponding control signal; and sending the signal to a control mechanism, and adjusting the position of a welding torch; and 4) at the same time, using a video encoder to encode a digital video signal of the welding image to generate video coding supporting PAL format, and using a display to display the welding image. The welding seam position real-time detection method can promptly and effectively acquire position information of feature points of the welding seam, fully meet the actual need of the welding process in precision and processing speed, and has higher practical application value.
Description
Technical field
The present invention relates to a kind of real-time detection method technical field, particularly the welding seam position real-time detection technical field specifically is meant a kind of welding seam position real-time detection based on DSP.
Background technology
The automation welding is a technology indispensable in the equipment manufacture, and the automatic welding equipment that especially has vision system has become the main direction of solder technology research and development.Welding mechanism with vision system is generally unified by image capturing system, information processing system and is followed the tracks of executing agency and form.In welding process, the continuous butt welded seam image of image capturing system is gathered, handle by information processing system butt welded seam image then, extract the relevant location information of weld seam, and be that control signal is sent to control system with this information translation, control system is carried out the real-time adjustment of welding torch position according to this signal, thereby improves welding quality.Therefore, the accuracy of Detecting Welding Seam, real-time, reliability directly influence welding quality.In the domestic and international welding mechanism of developing, generally form at present by ccd sensor, image pick-up card and industrial computer with visual performance.2000 series DSP (digital signal processor) of TI (Texas Instruments) company have obtained in the controlling organization using widely in welding, and 6000 series welding field use less.
Summary of the invention
The object of the present invention is to provide a kind of welding seam position real-time detection based on DSP, it is anxious that this detection method can obtain the position letter of weld bead feature points effectively in time, on precision, processing speed, satisfy the actual needs of welding process fully, had higher actual application value.
To achieve the above object, the invention provides a kind of welding seam position real-time detection based on DSP, it comprises step:
1) obtain the analog video weld image by the ccd image collector, the process programmable decoder is converted to digital difference signal with the PAL analog video signal of described weld image;
2) then utilize EDMA that described weld image is stored in the memory;
3) utilize digital signal processor that described weld image is handled in real time and analyzed then, extract information such as weld seam center, weld width, and the generation control signal corresponding is sent to controlling organization, the position of adjustment welding gun;
4) simultaneously, the digital video signal of described weld image is encoded, generate the video coding of supporting the PAL form, show described weld image by display by video encoder.
Preferably, described digital signal processor is handled in real time and is analyzed described weld image based on the IMGLIB function library.
More preferably, described digital signal processor carries out binary conversion treatment, morphologic expansion algorithm and closed operation processing, little target elimination processing and thinning processing to described weld image.
Preferably, described ccd image collector comprises ccd video camera and laser instrument, and described laser instrument and described ccd video camera are equipped with assists described ccd video camera to obtain described analog video weld image.
More preferably, the angle of the CCD of described laser instrument and described ccd video camera is 20 °～25 °.
Adopted the welding seam position real-time detection based on DSP of the present invention, because it adopts the TMS320DM642 processor, handle function library based on the IMGLIB image and realize the weld image processing, the position letter that can obtain weld bead feature points effectively in time is anxious, on precision, processing speed, satisfy the actual needs of welding process fully, had higher actual application value.
Description of drawings
Fig. 1 is the schematic diagram of a specific embodiment of the present invention.
Fig. 2 is the basic structure schematic diagram that is used for position while welding real-time detecting system of the present invention.
Fig. 3 is an image processing process schematic diagram of the present invention.
The specific embodiment
Below will describe in further detail the welding seam position real-time detection based on DSP of the present invention.
See also shown in Figure 1, the welding seam position real-time detection based on DSP of the present invention, it comprises step:
1) obtain the analog video weld image by the ccd image collector, the process programmable decoder is converted to digital difference signal with the PAL analog video signal of described weld image;
2) then utilize EDMA that described weld image is stored in the memory;
3) utilize digital signal processor that described weld image is handled in real time and analyzed then, extract information such as weld seam center, weld width, and the generation control signal corresponding is sent to controlling organization, the position of adjustment welding gun;
4) simultaneously, the digital video signal of described weld image is encoded, generate the video coding of supporting the PAL form, show described weld image by display by video encoder.
Preferably, described digital signal processor is handled in real time and is analyzed described weld image based on the IMGLIB function library.
In a specific embodiment of the present invention, described digital signal processor carries out binary conversion treatment, morphologic expansion algorithm and closed operation processing, little target elimination processing and thinning processing to described weld image.
Preferably, described ccd image collector comprises ccd video camera and laser instrument, and described laser instrument and described ccd video camera are equipped with assists described ccd video camera to obtain described analog video weld image.
In a specific embodiment of the present invention, the angle of the CCD of described laser instrument and described ccd video camera is 20 °～25 °
Therefore, see also Fig. 2, be used for the position while welding real-time detecting system based on DSP of the present invention and comprise ccd image collector, programmable decoder, digital signal processor, Video Decoder, display and memory, described ccd image collector is electrically connected with described digital signal processor by described programmable decoder, described digital signal processor is electrically connected with described display by described Video Decoder, and described memory is electrically connected with described digital signal processor.
Preferably, described ccd image collector comprises ccd video camera and laser instrument, and described laser instrument and described ccd video camera are equipped with, and described ccd video camera is electrically connected with described digital signal processor.
More preferably, the angle of the CCD of described laser instrument and described ccd video camera is 20 °～25 °.
Preferably, described programmable decoder is the TVP5150 programmable decoder.
Preferably, described digital signal processor is the TMS320DM642 processor.
Preferably, described Video Decoder is the SAA7121H Video Decoder.
Preferably, described memory is electrically connected with described digital signal processor by the EMIFA bus.
In a specific embodiment of the present invention, at first, obtain the analog video weld image by Array CCD Camera, through the TVP5150 programmable decoder PAL analog video signal is converted to digital difference signal (YUV 4: 2: 2, Y represents monochrome information, U represents blue color difference, V represents red color), then utilize EDMA that digital picture is stored among the SDSRAM, utilize TMS320DM642 digital signal processor butt welded seam image to handle in real time and analyze then, extract the weld seam center, information such as weld width, and the generation control signal corresponding is sent to controlling organization, the position of adjustment welding gun.Simultaneously, to digital encoding video signal, generate the video coding of supporting the PAL form, show weld image by display by the SAA7121H video encoder.
Though the gray scale weld image that collects can see that mating plate has carried out filtering after filtration, the influence of having eliminated arc light and having splashed in a large number still has the noise that splashes on a small quantity and cause.Therefore must handle by image, filtering noise just can obtain weld image clearly, thereby obtains accurate welding seam position information.The process that image is handled as shown in Figure 3.
To sum up, it is anxious that the welding seam position real-time detection based on DSP of the present invention can obtain the position letter of weld bead feature points effectively in time, satisfied the actual needs of welding process on precision, processing speed fully, has higher actual application value.
In this specification, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (5)
1. the welding seam position real-time detection based on DSP is characterized in that, comprises step:
1) obtain the analog video weld image by the ccd image collector, the process programmable decoder is converted to digital difference signal with the PAL analog video signal of described weld image;
2) then utilize EDMA that described weld image is stored in the memory;
3) utilize digital signal processor that described weld image is handled in real time and analyzed then, extract information such as weld seam center, weld width, and the generation control signal corresponding is sent to controlling organization, the position of adjustment welding gun;
4) simultaneously, the digital video signal of described weld image is encoded, generate the video coding of supporting the PAL form, show described weld image by display by video encoder.
2. the welding seam position real-time detection based on DSP as claimed in claim 1 is characterized in that described digital signal processor is handled in real time and analyzed described weld image based on the IMGLIB function library.
3. the welding seam position real-time detection based on DSP as claimed in claim 2, it is characterized in that described digital signal processor carries out binary conversion treatment, morphologic expansion algorithm and closed operation processing, little target elimination processing and thinning processing to described weld image.
4. the welding seam position real-time detection based on DSP as claimed in claim 1, it is characterized in that, described ccd image collector comprises ccd video camera and laser instrument, and described laser instrument and described ccd video camera are equipped with assists described ccd video camera to obtain described analog video weld image.
5. the welding seam position real-time detection based on DSP as claimed in claim 4 is characterized in that, the angle of the CCD of described laser instrument and described ccd video camera is 20 °～25 °.
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| CN102151960A (en) * | 2010-12-31 | 2011-08-17 | 陕西国德电气制造有限公司 | Automatic TIG (Tungsten Inert Gas) remelting forming method of weld joints in aluminum alloy shell |
| CN102922094A (en) * | 2012-10-09 | 2013-02-13 | 上海工程技术大学 | Ultra-small size welding seam tracking method based on heat input |
| CN103962720A (en) * | 2014-04-24 | 2014-08-06 | 中国航空工业集团公司北京航空制造工程研究所 | Synchronous control method and device of double-beam laser welding |
| CN104020222A (en) * | 2014-06-18 | 2014-09-03 | 长春光华微电子设备工程中心有限公司 | Welding quality detecting system of full-automatic ultrasonic aluminium wire press welder |
| CN104493336A (en) * | 2014-12-25 | 2015-04-08 | 重庆天量电子科技有限公司 | Welded joint detecting and tracking system and method based on video analysis |
| US9221117B2 (en) | 2009-07-08 | 2015-12-29 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9230449B2 (en) | 2009-07-08 | 2016-01-05 | Lincoln Global, Inc. | Welding training system |
| US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| US10803770B2 (en) | 2008-08-21 | 2020-10-13 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
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| US11715388B2 (en) | 2008-08-21 | 2023-08-01 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
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| US10347154B2 (en) | 2009-07-08 | 2019-07-09 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9230449B2 (en) | 2009-07-08 | 2016-01-05 | Lincoln Global, Inc. | Welding training system |
| US10522055B2 (en) | 2009-07-08 | 2019-12-31 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9221117B2 (en) | 2009-07-08 | 2015-12-29 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| US9269279B2 (en) | 2010-12-13 | 2016-02-23 | Lincoln Global, Inc. | Welding training system |
| CN102151960A (en) * | 2010-12-31 | 2011-08-17 | 陕西国德电气制造有限公司 | Automatic TIG (Tungsten Inert Gas) remelting forming method of weld joints in aluminum alloy shell |
| CN102922094A (en) * | 2012-10-09 | 2013-02-13 | 上海工程技术大学 | Ultra-small size welding seam tracking method based on heat input |
| US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US11100812B2 (en) | 2013-11-05 | 2021-08-24 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10720074B2 (en) | 2014-02-14 | 2020-07-21 | Lincoln Global, Inc. | Welding simulator |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| CN103962720B (en) * | 2014-04-24 | 2016-07-13 | 中国航空工业集团公司北京航空制造工程研究所 | The synchronisation control means of dual-beam laser welding and device |
| CN103962720A (en) * | 2014-04-24 | 2014-08-06 | 中国航空工业集团公司北京航空制造工程研究所 | Synchronous control method and device of double-beam laser welding |
| CN104020222A (en) * | 2014-06-18 | 2014-09-03 | 长春光华微电子设备工程中心有限公司 | Welding quality detecting system of full-automatic ultrasonic aluminium wire press welder |
| US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| CN104493336A (en) * | 2014-12-25 | 2015-04-08 | 重庆天量电子科技有限公司 | Welded joint detecting and tracking system and method based on video analysis |
| US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
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