CN103954216A - Strong specular reflection workpiece thin and narrow groove detection device and method based on spherical surface light sources - Google Patents
Strong specular reflection workpiece thin and narrow groove detection device and method based on spherical surface light sources Download PDFInfo
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- CN103954216A CN103954216A CN201410201151.3A CN201410201151A CN103954216A CN 103954216 A CN103954216 A CN 103954216A CN 201410201151 A CN201410201151 A CN 201410201151A CN 103954216 A CN103954216 A CN 103954216A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/0213—Narrow gap welding
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Abstract
The invention provides a strong specular reflection workpiece thin and narrow groove detection device and method based on spherical surface light sources, and belongs to the field of welding automation. According to the device and the method, the spherical surface light sources irradiate the surface of a workpiece so that a workpiece surface image with the uniform gray level can be obtained, and the automatic detection on a strong specular reflection workpiece thin and narrow groove is achieved by determining the relative position and posture between a welding gun and the workpiece through a laser array. According to the device and the method, the spherical surface light sources irradiate the surface of the strong specular reflection workpiece so that the uniform-illumination workpiece surface image can be obtained, the characteristics of the groove in the image are obvious, the center position of the groove is conveniently and accurately extracted, and the detection accuracy can reach 0.03 mm; the relative position and posture between the workpiece and the welding gun can be rapidly and accurately obtained through the laser array; the system structure is simple, the detection accuracy is high, instantaneity is high, cost is low, and the strong specular reflection workpiece thin and narrow groove detection device and method can be applied to automatic detection of the groove of the strong specular reflection workpiece surface and are particularly suitable for the occasion of high-energy beam welding automatic tracking of the thin and narrow groove workpiece with the groove gap smaller than 0.1 mm.
Description
Technical field
The invention belongs to Automation of Welding field, particularly the design of the thin narrow groove pick-up unit of a kind of strong mirror-reflection workpiece based on sphere light source and method.
Background technology
The lightweight development of space flight and aviation member and the raising of reliability requirement have proposed significant challenge to weld seam vision-based detection and tracking.One, the groove type of workpiece to be welded is generally I type butting grooves, groove gap minimum (being generally no more than 0.1mm), the relative pose of welding gun and groove is slightly offset may cause serious weld defects, high to detection and tracking accuracy requirement; Its two, space flight and aviation member material is mostly almag, reflectivity can reach more than 95%, its surface strong specular light make brightness of image extremely inhomogeneous, even may cover the principal character information of groove.Traditional welding seam tracking method is identified region to be welded by the distortion characteristics of detection architecture striation, and this method too relies on macroscopical geometry feature of groove, cannot be applied to the unconspicuous thin narrow groove of structure striation distortion and detect occasion.
Chinese patent literature (notification number is CN101927395B) discloses a kind of weld joint tracking detection equipment and method, the laser facula with contoured feature is incident upon on surface of the work, use CCD collected by camera surface of the work image, by detecting the lateral excursion of the groove shadow Detection groove in hot spot, by detecting shape, position and the size variation of hot spot, calculate the relative pose between surface of the work and welding gun.The gradation of image that this method gathers is very inhomogeneous, brings difficulty to the accurate extraction at hot spot edge, and this is because metal surface produces strong mirror-reflection to laser on the one hand, causes image local saturated; Be because laser forms speckle in metal surface on the other hand, aggravated gray scale unevenness.Reduce the time shutter, reduce the impact that the methods such as aperture and the delustring of use polaroid can reduce specular light to a certain extent, but laser speckle phenomenon is further obvious, cannot improve the homogeneity of gradation of image.
To sum up, not yet have that accuracy of detection is high, real-time, gradation of image good uniformity, be applicable to the device and method that the thin narrow groove of strong specular reflection surface workpiece detects.
Summary of the invention
The object of the invention is the weak point for prior art, the thin narrow groove pick-up unit of a kind of strong mirror-reflection workpiece based on sphere light source and method are proposed, this invention is intended to solve that the accuracy of detection that current technology exists gradation of image limited, that cause because of the strong mirror-reflection of surface of the work is uneven, welding gun and workpiece relative pose are difficult to the accurately problem such as definite, in the hope of realizing the automatic identification of groove, the thin narrow groove that is especially less than 0.1mm for groove gap detects occasion automatically.
Technical scheme of the present invention is as follows:
The thin narrow groove pick-up unit of strong mirror-reflection workpiece based on sphere light source, is characterized in that: comprise control module, and sensor outer housing, and be arranged on sphere light source, laser array, image-forming component and the filter element in sensor outer housing; Described control module is connected by wire with image-forming component with described sphere light source, laser array respectively; Described sensor outer housing and welding gun are fixed; Described sphere light source comprises light emitting diode matrix, spherical diffuse reflection housing and light hole; Described light emitting diode matrix is distributed in described spherical diffuse reflection housing bottom, and its light sending is incident upon on surface of the work after described spherical diffuse reflection housing reflection; Or described light emitting diode matrix is distributed on described spherical diffuse reflection surface of shell, the light part that it sends is directly incident upon on surface of the work, and another part is incident upon on surface of the work after described spherical diffuse reflection housing reflection; Described laser array comprises at least three laser instruments; The laser facula that described laser array sends is incident upon on surface of the work; The reflected light of surface of the work, after described light hole and filter element, is taken in described image-forming component imaging.
The thin narrow groove pick-up unit of strong mirror-reflection workpiece based on sphere light source, is characterized in that: described image-forming component is charge-coupled image sensor, complementary metal oxide semiconductor (CMOS) image device, position sensitive detector or charge injection device; The emission wavelength of sphere light source is consistent with the centre wavelength of filter element with the emission wavelength of laser array; The centre wavelength of filter element is within the scope of the sensitive wave length of image-generating unit.
The thin narrow groove detection method of strong mirror-reflection workpiece based on sphere light source, is characterized in that the method comprises the following steps:
1) set up image-forming component coordinate system C}, described image-forming component coordinate system the photocentre that the initial point of C} is image-forming component, plotted is identical with described image-forming component optical axis direction; On the image of image-forming component collection, set up { the P} of pixel coordinate system; If described laser array comprises N laser instrument, N is more than or equal to 3 positive integer;
2) described image-forming component is demarcated, obtained pixel coordinate system { any point (u, v) in P}
twith image-forming component coordinate system { C} mid point (x, y, z)
tbetween transformational relation:
And image-forming component coordinate system in C}, i the laser propagation path equation that laser instrument sends:
X
i＝X
i,0+t
iS
i
Wherein, f
1, f
2pixel coordinate system { P} and the image-forming component coordinate system { transfer function between C}; I is more than or equal to 1, and is less than or equal to the positive integer of N; X
iand X
i, 0it is the point on i the laser instrument laser propagation path of sending; S
iit is the unit direction vector in i the laser instrument laser propagation path of sending; t
ian X
iand X
i, 0between directed distance;
3) described control module sends trigger pip, and described laser array and described sphere light source are alternately lighted, and makes described image-forming component synchronously take the image of Different Light while lighting; When described laser array is lighted, described control module is processed the image of described image-forming component collection, obtains i laser facula at the { coordinate (u in P} of pixel coordinate system
i, v
i)
t; According to i laser facula, at pixel coordinate, be { coordinate (the u in P}
i, v
i)
t, calculate i laser facula at image-forming component coordinate system { the coordinate A in C}
i:
A
i＝[X
i,0+t
i,1(u
i,v
i)·S
i+t
i,2(u
i,v
i)·V
i(u
i,v
i)]/2
Wherein,
V
i(u
i,v
i)＝[f
1(u
i,v
i),f
2(u
i,v
i),1]
T
The surface of the work of supposing laser facula projection is approximately plane, remembers that this plane is W; If the equation of plane W is X
tα=1, wherein α is the normal vector of plane W, X is any point on plane W; According to an A
iall, on plane W, have:
That is:
Use linear least square to obtain the normal vector α of plane W;
When described sphere light source igniting, described control module is processed the image of image-forming component collection, obtains groove central point at the { coordinate (u in P} of pixel coordinate system
w, v
w)
t; According to groove central point, be positioned at plane W upper, obtain groove central point image-forming component coordinate system the coordinate B in C}:
B＝V
w(u
w,v
w)/[α
TV
w(u
w,v
w)]
Wherein,
V
w(u
w,v
w)＝[f
1(u
w,v
w),f
2(u
w,v
w),1]
T。
The present invention adopts sphere light source to irradiate surface of the work and obtains the skew of groove position, and adopts laser array to determine the posture information of surface of the work, realizes the detection of the thin narrow groove of strong mirror-reflection workpiece.Adopt device and method of the present invention can when groove detects, meet some target calls: gradation of image is even, and groove feature is obvious, be convenient to detect in real time, exactly groove position; Can determine quickly and accurately that welding gun is with respect to the posture information of surface of the work, comprise the lateral excursion, short transverse skew, lateral slip angle of welding gun, longitudinal drift angle etc.; Accuracy of detection is high, and accuracy of detection can reach 0.03mm; System architecture is simple, and cost is low, and real-time is high, is applicable to strong mirror-reflection workpiece (as Al alloy parts etc.) groove and automatically detects, and is particularly useful for the thin narrow groove that groove gap is less than 0.1mm and detects occasion.
Accompanying drawing explanation
Fig. 1 is first example structure schematic diagram of the thin narrow groove pick-up unit of strong mirror-reflection workpiece based on sphere light source.
Fig. 2 is second example structure schematic diagram of the thin narrow groove pick-up unit of strong mirror-reflection workpiece based on sphere light source.
Fig. 3 is the groove image that in first embodiment of the invention and second embodiment, image-forming component gathers during sphere light source igniting.
Fig. 4 is used laser array to determine the schematic diagram of workpiece pose in first embodiment of the invention and second embodiment.
Fig. 5 is the process flow diagram that in first embodiment of the invention and second embodiment, groove detects.
In Fig. 1 to Fig. 5:
1-control module; 2-sensor outer housing; 3-sphere light source; 31-light emitting diode matrix; 32-spherical diffuse reflection housing; 33-light hole; 4-laser array; The 41-the first laser instrument; 42-second laser; The 43-the three laser instrument; 5-image-forming component; 6-filter element; 7-workpiece; 71-mother metal; 72-groove; 8-welding gun.
Embodiment
Below in conjunction with accompanying drawing, structure of the present invention, principle and the course of work are described further.
Fig. 1 is the thin narrow groove pick-up unit of the strong mirror-reflection workpiece based on sphere light source that proposes of the present invention and first example structure principle schematic of method, comprises control module 1, sensor outer housing 2, sphere light source 3, laser array 4, image-forming component 5 and filter element 6.Described control module 1 is connected by wire with described sphere light source 3, laser array 4 and image-forming component 5; Described control module 1 sends trigger pip, makes alternately stroboscopic of sphere light source 3 and laser array 4, and makes workpiece 7 surface images under image-forming component 5 synchronous acquisition Different Light irradiations; Described sensor outer housing 2 is fixed with welding gun 8; Described sphere light source 3 comprises light emitting diode matrix 31, spherical diffuse reflection housing 32 and light hole 33; Described light emitting diode matrix 31 is distributed in described spherical diffuse reflection housing 32 bottoms, and its light sending is incident upon on workpiece 7 surfaces after described spherical diffuse reflection housing 32 reflections; Described laser array 4 comprises at least three laser instruments; The laser facula that described laser array sends is incident upon on workpiece 7 surfaces; The reflected light on workpiece 7 surfaces, after described light hole 33 and filter element 6, is taken in described image-forming component 5 imagings.In the present embodiment, the quantity of laser instrument is three, is respectively the first laser instrument 41, second laser 42 and the 3rd laser instrument 43, and wavelength is 635nm; The CCD camera that described image-forming component 5 is 1024 * 1024, field range is 30mm * 30mm, accuracy of detection is 0.03mm; The wavelength coverage of described light emitting diode matrix 31 emergent lights is 635～645nm; Described filter element 6 is narrow band pass filter, and centre wavelength is 635nm, and halfwidth is 10nm; Electric arc arc light the light intensity at 635～645nm place relatively a little less than, the filter element 6 of therefore selecting effectively filtering arc light disturbs.
There is larger unevenness in the space distribution of light emitting diode matrix 31 output intensities, is derived from the sparse of light emitting diode on the one hand and arranges, and is derived from the other hand the direction unevenness of each light emitting diode light intensity.The inside surface of spherical diffuse reflection housing 32 is equivalent to Ulbricht sphere, and the light intensity integrating effect of Ulbricht sphere can be eliminated the unevenness of light emitting diode matrix 31 output intensities to a certain extent, and the light intensity that makes to be incident upon workpiece 7 surfaces is even; The emergent light of light emitting diode matrix 31 is incoherent light, the speckle issue that does not exist LASER Light Source to exist, and light intensity uniformity is better.
Fig. 2 is the thin narrow groove pick-up unit of the strong mirror-reflection workpiece based on sphere light source that proposes of the present invention and second example structure principle schematic of method.Different from first embodiment, in the present embodiment, light emitting diode matrix 31 is distributed on spherical diffuse reflection housing 32 inside surfaces.Due to the light intensity integrating effect of spherical diffuse reflection housing 32, the light intensity that is incident upon workpiece 7 surfaces is very even.
Fig. 3 is the groove original image that when sphere light source 3 is lighted in first embodiment of the invention and second embodiment, image-forming component 5 gathers.There is great difference in mother metal 71 and groove 72: mother metal 71 surfaces are due to strong mirror-reflection, and gray scale approaches saturated in optical reflection feature; Be incident upon light on groove 72 through groove 72 sidewall reflects, fail to take in image-forming component 5, in image, show as a gray scale close to zero curve.The strong discrepancy of mother metal 71 and groove 72 gray scales be groove 72 positions fast, accurately provide safeguard.
Fig. 4 is used laser array to determine the schematic diagram of workpiece pose in first embodiment of the invention and second embodiment.Because sphere light source 3 is incident upon hot spot on surface of the work without obvious edge contour feature, be therefore difficult to determine that welding gun 8 is with respect to the pose of workpiece 7.The present invention uses laser array 4 to determine that welding gun 8 is with respect to the pose of workpiece 7.Suppose that laser array 4 is by N laser constitution, N is positive integer.On the image gathering at image-forming component 5, set up pixel coordinate system P}, { any point on P} represents the pixel coordinate value of image-forming component 5 images in pixel coordinate system; { C}, { initial point of C} is the photocentre of image-forming component 5 to image-forming component coordinate system, and plotted is identical with image-forming component 5 optical axis directions to set up image-forming component coordinate system.
Fig. 5 is the process flow diagram that in first embodiment of the invention and second embodiment, groove detects.When laser array 4 is lighted, when sphere light source 3 extinguishes, welding gun 8 can obtain by calculating with respect to the pose on workpiece 7 surfaces; When sphere light source 3 is lighted, when laser array 4 extinguishes, the pixel coordinate in conjunction with groove central point in image-forming component 5 images, and aforesaid welding gun 8 is with respect to the position orientation relation on workpiece 7 surfaces, can obtain by calculating the three dimensional space coordinate of groove central point.Control module 1 is responsible for trigger ball area source 3, laser array 4 and image-forming component 5, and the image that image-forming component 5 is gathered is processed, and according to result of calculation, automatically adjusts the relative pose of welding gun 8 and workpiece 7, realizes from motion tracking.
When laser array 4 is lighted, when sphere light source 3 extinguishes, establish laser propagation path that i laser instrument send image-forming component coordinate system the equation in C} is:
X
i＝X
i,0+t
iS
i (1)
Wherein, X
iand X
i, 0be the point on i the laser instrument laser propagation path of sending, S
ibe the unit direction vector in i the laser instrument laser propagation path of sending, t
ian X
iwith an X
i, 0directed distance.
After using the methods such as Zhang Zhengyou to demarcate, can obtain the X in formula (1)
i, 0and S
i, and the pixel coordinate system { any point (u, v) on P}
twith corresponding to the image-forming component coordinate system { point (x, y, z) on C}
tbetween relation, that is:
Wherein, function f
1and f
2can obtain through demarcating.
Suppose that it is (u that i laser instrument is incident upon hot spot on workpiece 7 pixel coordinate in image-forming component 5 images
i, v
i)
t, corresponding to image-forming component coordinate system, { point on C} is A for it
i=(x
i, y
i, z
i)
t, 1≤i≤N, and i is positive integer, according to formula (2), can obtain:
A
i＝t
i,2(u
i,v
i)V
i(u
i,v
i) (3)
Wherein, V
i(u
i, v
i)=[f
1(u
i, v
i), f
2(u
i, v
i), 1]
t, t
i, 2(u
i, v
i) be to depend on u
iand v
iundetermined parameter.Formula (3) shows, some A
ibe positioned on the straight line of formula (3) expression, this straight line process image-forming component coordinate system the initial point of C}, and direction vector is V
i(u
i, v
i).
Due to an A
ion the straight line representing in formula (1), therefore:
A
i＝X
i,0+t
i,1(u
i,v
i)S
i (4)
Wherein, t
i, 1(u
i, v
i) be to depend on u
iand v
iundetermined parameter.
Point A
ithe intersection point of two straight lines that represent for formula (3) and formula (4), and vectorial S
iand V
i(u
i, v
i) not parallel, otherwise some A
ito not exist.But due to reasons such as measuring error, interference noises, the straight line that formula (3) and formula (4) represent is generally different surface beeline, now gets an A
iit is the mid point of two straight line common vertical lines.Because the common vertical line segment length of two different surface beelines connects respectively on two different surface beelines one the shortest in the line segment of 2, therefore set up objective function:
, and ask the minimum value of objective function g, can determine t
i, 1(u
i, v
i) and t
i, 2(u
i, v
i), thereby determine some A
icoordinate figure.
Order
That is:
The determinant of coefficient of formula (7) system of equations:
Wherein, <S
i, V
i(u
i, v
i) > represents vectorial S
iand V
i(u
i, v
i) angle.Due to vectorial S
iand V
i(u
i, v
i) not parallel, so the determinant of formula (8) is greater than zero, there is unique solution in system of equations (7), and its solution is:
Due to an A
ithe mid point of the common vertical line of the straight line representing for formula (3) and formula (4), therefore:
A
i＝[X
i,0+t
i,1(u
i,v
i)·S
i+t
i,2(u
i,v
i)·V
i(u
i,v
i)]/2 (11)
Can prove, when the straight line of formula (3) and formula (4) expression is not different surface beeline, its intersecting point coordinate still meets formula (11).
So far, i laser instrument is incident upon the lip-deep hot spot of workpiece 7 { coordinate of C} provided by formula (11) with respect to image-forming component coordinate system.During actual detection, guarantee that all laser faculas are all incident upon near groove 72, and suppose that the surface of the work of laser facula projection is approximately plane, establishing this plane is W, and its equation is X
tα=1, wherein α is the normal vector of plane W.Due to an A
iall on plane W, therefore:
That is:
Only have when N >=3, formula (13) just has unique least square solution, and the equation of plane W can be determined, so in the present invention, require laser array 4 at least to comprise three laser instruments.
When sphere light source 3 is lighted, when laser array 4 extinguishes, image-forming component 5 gathers the gray level image of surface of the work.After the image that image-forming component 5 is gathered is done Threshold segmentation, obtain bianry image I, in image I, the gray-scale value at mother metal 71 places is one, and the gray-scale value at groove 72 places is zero.J for image-forming component 5 images is capable, groove central point pixel coordinate system the coordinate in P} is:
u
w＝j (14)
Wherein, the gray-scale value of capable, the v row pixel of I (j, v) presentation video I j, #{v:I (j, v)=0} represents to meet the pixel sum of I (j, v)=0, sum{v:I (j, v)=0} represents to meet the pixel point range sum of I (j, v)=0.
Surface of the work regional area can be approximately plane W, and point (u
w, v
w) { the some B in C} is on plane W for corresponding image-forming component coordinate system.According to the equation X of formula (2) and plane W
tα=1 is known, and some B meets:
B＝t
w(u
w,v
w)V
w(u
w,v
w) (16)
B
Tα＝1 (17)
Wherein, t
w(u
w, v
w) be to depend on u
wand v
wundetermined parameter, and:
V
w(u
w,v
w)＝[f
1(u
w,v
w),f
2(u
w,v
w),1]
T (18)
By formula (16) and formula (17) can calculate groove central point B image-forming component coordinate system the coordinate in C}:
B＝V
w(u
w,v
w)/[α
TV
w(u
w,v
w)] (19)
According to the normal vector of the coordinate of groove central point and surface of the work, automatically adjust the relative pose of welding gun and workpiece, to realize the automatic recognition and tracking of thin narrow groove.
It should be noted that the above embodiment scheme that only also unrestricted the present invention describes for the present invention is described; Therefore, although this instructions has been described in detail the present invention with reference to above embodiment, but will be understood by those skilled in the art that, still can modify or be equal to replacement the present invention, as the number of lasers comprising for laser array 4 can be greater than 3 accuracy of detection with raising welding gun and surface of the work relative pose, can adopt more high-resolution image-forming component can adopt the beam splitters such as monochromator etc. with raising groove accuracy of detection, filter element 6; And all do not depart from technical scheme and the improvement thereof of the spirit and scope of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
The present invention adopts sphere light source, laser array, image-forming component etc. to realize the thin narrow groove of strong mirror-reflection workpiece is detected; Detection method does not rely on macroscopical geometry feature of groove, and accuracy of detection can be up to 0.03mm; Adopt sphere light source to irradiate surface of the work, make surface of the work brightness even, mother metal part gray scale approaches saturated, and groove district gray scale is close to zero, can guarantee to extract exactly the groove position in image on the one hand, reduce on the other hand the difficulty of image processing and the complicacy of algorithm; Adopt laser array to determine the posture information of surface of the work, detection method is simple, can calculate quickly and accurately welding gun with respect to the pose skew of surface of the work; Use filter element to eliminate the interference to image-forming component such as surround lighting and arc light, the adaptability of raising system to actual welding operating environment; System architecture is simple, accuracy of detection is high, and real-time is good, and cost is lower, be applicable to strong mirror-reflection workpiece grooves and detect, be particularly useful for thin narrow groove workpiece high energy beam welding (Laser Welding (LBW), EBW (electron beam welding), plasma arc welding etc.) that groove gap is less than 0.1mm from motion tracking occasion.
Claims (3)
1. the thin narrow groove pick-up unit of the strong mirror-reflection workpiece based on sphere light source, it is characterized in that: comprise control module (1), sensor outer housing (2), and be arranged on sphere light source (3), laser array (4), image-forming component (5) and the filter element (6) in sensor outer housing; Described control module (1) is connected by wire with described sphere light source (3), laser array (4) and image-forming component (5) respectively; Described sensor outer housing (2) is fixed with welding gun (8); Described sphere light source (3) comprises light emitting diode matrix (31), spherical diffuse reflection housing (32) and light hole (33); Described light emitting diode matrix (31) is distributed in described spherical diffuse reflection housing (32) bottom, and its light sending is incident upon on workpiece (7) surface after described spherical diffuse reflection housing (32) reflection; Or described light emitting diode matrix (31) is distributed on described spherical diffuse reflection housing (32) surface, the light part that it sends is directly incident upon on workpiece (7) surface, and another part is incident upon on workpiece (7) surface after described spherical diffuse reflection housing (32) reflection; Described laser array (4) comprises at least three laser instruments; The laser facula that described laser array (4) sends is incident upon on workpiece (7) surface; The reflected light on workpiece (7) surface, after described light hole (33) and filter element (6), is taken in described image-forming component (5) imaging.
2. the thin narrow groove pick-up unit of the strong mirror-reflection workpiece based on sphere light source as claimed in claim 1, is characterized in that: described image-forming component is charge-coupled image sensor, complementary metal oxide semiconductor (CMOS) image device, position sensitive detector or charge injection device; The emission wavelength of sphere light source is consistent with the centre wavelength of filter element with the emission wavelength of laser array; The centre wavelength of filter element is within the scope of the sensitive wave length of image-generating unit.
3. adopt the thin narrow groove detection method of the strong mirror-reflection workpiece based on sphere light source of device as claimed in claim 1, it is characterized in that the method comprises the following steps:
1) set up image-forming component coordinate system C}, described image-forming component coordinate system the photocentre that the initial point of C} is image-forming component, plotted is identical with described image-forming component optical axis direction; On the image of image-forming component collection, set up { the P} of pixel coordinate system; If described laser array comprises N laser instrument, N is more than or equal to 3 positive integer;
2) described image-forming component is demarcated, obtained pixel coordinate system { any point (u, v) in P}
twith image-forming component coordinate system { C} mid point (x, y, z)
tbetween transformational relation:
And image-forming component coordinate system in C}, i the laser propagation path equation that laser instrument sends:
X
i＝X
i,0+t
iS
i
Wherein, f
1, f
2pixel coordinate system { P} and the image-forming component coordinate system { transfer function between C}; I is more than or equal to 1, and is less than or equal to the positive integer of N; X
iand X
i, 0it is the point on i the laser instrument laser propagation path of sending; S
iit is the unit direction vector in i the laser instrument laser propagation path of sending; t
ian X
iand X
i, 0between directed distance;
3) described control module sends trigger pip, and described laser array and described sphere light source are alternately lighted, and makes described image-forming component synchronously take the image of Different Light while lighting; When described laser array is lighted, described control module is processed the image of described image-forming component collection, obtains i laser facula at the { coordinate (u in P} of pixel coordinate system
i, v
i)
t; According to i laser facula, at pixel coordinate, be { coordinate (the u in P}
i, v
i)
t, calculate i laser facula at image-forming component coordinate system { the coordinate A in C}
i:
A
i＝[X
i,0+t
i,1(u
i,v
i)·S
i+t
i,2(u
i,v
i)·V
i(u
i,v
i)]/2
Wherein,
V
i(u
i,v
i)＝[f
1(u
i,v
i),f
2(u
i,v
i),1]
T
The surface of the work of supposing laser facula projection is approximately plane, remembers that this plane is W; If the equation of plane W is X
tα=1, wherein α is the normal vector of plane W, X is any point on plane W; According to an A
iall, on plane W, have:
That is:
Use linear least square to obtain the normal vector α of plane W;
When described sphere light source igniting, described control module is processed the image of image-forming component collection, obtains groove central point at the { coordinate (u in P} of pixel coordinate system
w, v
w)
t; According to groove central point, be positioned at plane W upper, obtain groove central point image-forming component coordinate system the coordinate B in C}:
B＝V
w(u
w,v
w)/[α
TV
w(u
w,v
w)]
Wherein,
V
w(u
w,v
w)=[f
1(u
w,v
w),f
2(u
w,v
w),1]
T。
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| CN201410201151.3A CN103954216B (en) | 2014-05-13 | 2014-05-13 | Strong specular reflection workpiece thin and narrow groove detection device and method based on spherical surface light sources |
| PCT/CN2014/086847 WO2015172485A1 (en) | 2014-05-13 | 2014-09-18 | Apparatus and method for detecting narrow groove of specular reflection workpiece |
| JP2015563076A JP6101370B2 (en) | 2014-05-13 | 2014-09-18 | Apparatus and method for detecting narrow groove of workpiece reflecting specularly |
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| CN108332658A (en) * | 2018-01-25 | 2018-07-27 | 清华大学 | A kind of welding bead pose real-time detection method for complex-curved welding |
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| CN109822216A (en) * | 2019-01-15 | 2019-05-31 | 清华大学 | Welding bead track and posture real-time tracking detection method, electronic equipment and medium |
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| CN106425015A (en) * | 2016-11-15 | 2017-02-22 | 合肥通用机械研究院 | All-position self-adaptive welding process for large low-alloy high-strength steel ball tank |
| CN110006921B (en) * | 2019-01-25 | 2023-04-18 | 杭州晶耐科光电技术有限公司 | Automatic pose adjusting method and device for large-curvature-radius spherical optical element |
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| Publication number | Publication date |
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| CN103954216B (en) | 2017-04-12 |
| JP6101370B2 (en) | 2017-03-22 |
| WO2015172485A1 (en) | 2015-11-19 |
| JP2016525449A (en) | 2016-08-25 |
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