CN104043909B - Steel bar welding method and steel bar welding adjusting system for implementing same - Google Patents
Steel bar welding method and steel bar welding adjusting system for implementing same Download PDFInfo
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- CN104043909B CN104043909B CN201310283710.5A CN201310283710A CN104043909B CN 104043909 B CN104043909 B CN 104043909B CN 201310283710 A CN201310283710 A CN 201310283710A CN 104043909 B CN104043909 B CN 104043909B
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- 238000003466 welding Methods 0.000 title claims abstract description 122
- 238000000034 method Methods 0.000 title claims abstract description 41
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 37
- 239000010959 steel Substances 0.000 title claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims abstract description 46
- 230000003014 reinforcing effect Effects 0.000 claims description 137
- 230000002787 reinforcement Effects 0.000 claims description 34
- 238000012545 processing Methods 0.000 claims description 12
- 230000007547 defect Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 4
- 230000010365 information processing Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 210000003205 muscle Anatomy 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004035 construction material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F15/00—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire
- B21F15/02—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire wire with wire
- B21F15/06—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire wire with wire with additional connecting elements or material
- B21F15/08—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire wire with wire with additional connecting elements or material making use of soldering or 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
- 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
- B23K31/02—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 soldering or welding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Wire Processing (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Numerical Control (AREA)
Abstract
A method for welding steel bars comprises determining preset positions of steel bars on a jig frame in a crossed arrangement mode and preset welding coordinates of the crossed positions of the preset steel bars; substantially arranging at least two steel bars in a crossed manner at the preset position on the jig frame, wherein the at least two steel bars form a first intersection point; obtaining an image covering the first intersection point of the at least two steel bars; obtaining the coordinates of the first intersection point in the image; comparing the coordinates of the first intersection point with the preset welding coordinates, and calculating the displacement between the coordinates of the first intersection point and the preset welding coordinates; and when the displacement is not zero, adjusting the coordinate of the first intersection point to be an actual welding coordinate. A steel bar welding adjusting system comprises a steel bar arranging device, an image acquiring device and an information processing device, and can implement the method.
Description
Technical field
The invention relates to a welding method；Specifically, the invention relates to a kind of steel bar welding method.
Background technology
Reinforcing bar is construction material a kind of important and main in modern concrete steel building, and it can on demand with curved
The modes such as song, be set with, splicing, colligation are used in building, concrete such as stirrup, bend up muscle, hook and cancellated shape
Into, and reinforcing bar continues.
Wherein reinforcing bar (silk) web frame can be used as the supporting construction of such as floor or metope etc..Reinforcing bar (silk) is although web frame
For conventional and necessary component, but still make when costing.Accordingly, it is considered to arrive forming efficiency and quality, and further up to plus
The purpose of fast architecture construction, the production method of reinforcing bar (silk) web frame has the space of lifting.
Furthermore, due to typically reinforcing bar being fixed to each other in into its intersection location by methods such as welding, form reinforcing bar (silk)
Web frame, therefore welding method is that have the space of lifting.
The content of the invention
It is an object of the invention to improve the degree of accuracy of reinforcement welding.
Another object of the present invention is to improve the intensity of reinforcing bar (silk) web frame.
Another object of the present invention is to provide the method for adjustment and system of a kind of welding position and/or reinforcing bar be set with.
The steel bar welding method of the present invention is comprised the steps of：Determine tool frame on reinforcing bar intersect be set with predeterminated position with
And the default welding coordinate of default reinforcing bar intersection；Essence intersects the default position of be set with least two reinforcing bars on the tool frame
Put, wherein at least two reinforcing bars form the first intersection point；The image of at least two reinforcing bars first intersection point is covered in acquirement；Obtain the shadow
The coordinate of first intersection point as in；The coordinate and the default welding coordinate of first intersection point are contrasted, the seat of first intersection point is calculated
Displacement between mark and the default welding coordinate；And when the displacement is not zero, the coordinate for adjusting first intersection point is one actual
Welding coordinate.
The reinforcement welding adjustment system of the present invention, comprising reinforcing bar be set with device, video capturing device and information processing apparatus
Put, and preceding method can be implemented.Reinforcing bar be set with device intersects be set with to form steel mesh reinforcement structure at least two reinforcing bars.Reinforcing bar is arranged
Device is put comprising tool frame, and at least two reinforcing bars are to intersect be set with tool frame, and form the first intersection point.Image capturing is filled
Put and obtain the image for covering at least two first intersection points of reinforcing bar.Information processor is connected with video capturing device, and obtains shadow
The coordinate of the first intersection point as in.Additionally, information processor produces output signal according to the coordinate selection of the first intersection point, and adjust
The coordinate of the first intersection point is actual welding coordinate.
Description of the drawings
Fig. 1 is the embodiment flow chart of steel bar welding method of the present invention；
Fig. 2 is that reinforcing bar of the present invention intersects in be set with embodiment, the schematic diagram of predeterminated position and default intersection；
Fig. 3 is that reinforcing bar of the present invention is actual to intersect in be set with embodiment, the schematic diagram of reinforcing bar intersection point；
Fig. 4 A～Fig. 4 J are the schematic diagrames of image processing embodiment of the present invention；
Fig. 5 is the comparison schematic diagram of the default intersection with the actual reinforcing bar intersection point of Fig. 3 of Fig. 2；
Fig. 6 is another embodiment flow chart of steel bar welding method of the present invention；
Fig. 7 is another embodiment flow chart of steel bar welding method of the present invention；
Fig. 8 A are the embodiment schematic diagrams that reinforcement welding of the present invention adjusts system；
Fig. 8 B are another embodiment schematic diagrams that reinforcement welding of the present invention adjusts system；
Fig. 9 and Figure 10 A are the schematic diagrames of datum mark and reference point；And
Figure 10 B are to shoot datum mark or reference point gained image.
Main element symbol description：
10 reinforcement weldings adjust system
200 reinforcing bar be set with devices
250 tool framves
255 fixtures
300 video capturing devices
400 information processors
50 reinforcement welding equipment
600 reinforcing bar erectings by overhang
70a～70i images
71 reinforcing bar homogeneous regions
72 patterns
73 profiles
74 convex polygons
75 depths points
76 centres of form
800～805,900～905 reinforcing bars
A1～A5, B1～B5 predeterminated positions
C, c1～c5 presets intersection
I, i1～intersection points of i5 first
W1～w5 actual weldings point
R0 datum marks
R1, R2, R3, R4 reference point
Q frames
M images
I input signals
O, O ' output signal
Specific embodiment
The present invention is a kind of steel bar welding method, is included in reinforcing bar be set with and implements to carry out reinforcing bar friendship between weld job
Point measurement, the adjustment of pad and the adjustment of decision, welding equipment or reinforcing bar to be welded.
The embodiment of the steel bar welding method of the present invention preferably includes step as shown in Figure 1.Step 110 is to determine that one controls
Reinforcing bar intersects a predeterminated position of be set with and a default welding coordinate of default reinforcing bar intersection on tool frame.
Before weld job is implemented, needs are first placed in reinforcing bar to be welded on such as tool frame or plummer.Further
For, those reinforcing bars be to intersect be set with the form of be arranged on tool frame.For example, the substantially orthogonal row of those reinforcing bars can be made
Put, form the network structure with rectangular mesh.Wherein, tool frame can be public using such as Taiwan new patent notification number M394197
The tool frame opened；Preferably, arrange on tool frame or be formed with for example fluting or geometrical clamp, and can reference mark, for be welded
Reinforcing bar is positioned and arranged.
Additionally, in present pre-ferred embodiments, before actual be set with reinforcing bar is on the tool frame generally in advance design or
Predeterminated position and default reinforcing bar intersection of the reinforcing bar on the tool frame can be known, or meaning first has the blueprint of reinforcing bar be set with；
The wherein intersection preferably obtains the default welding coordinate positioned at the default pad generally as default pad.With
As a example by shown in Fig. 2, on such as tool frame 250, many reinforcing bars are by the x directions difference with its longitudinally essence defined in the figure
In position A1, A2, A3, A4, A5 ... An, other many reinforcing bars are by the y with its longitudinally essence defined in the figure for be set with
Be set with is distinguished in position B1, B2, B3, B4, B5 ... Bn in direction；In other words, A1～An and B1～Bn be predeterminated position, c1, c2,
C3, c4, c5 ... cn is then default intersection.In embodiments of the present invention, in reinforcing bar be set with blueprint predeterminated position it is general and
Say as preferable reinforcing bar be set with position, and preferably default welding coordinate/point can be obtained by default intersection, for information processing
Device manipulation reinforcement welding equipment positioning and welding.
The aforementioned information about reinforcing bar predeterminated position and default intersection can by with a reinforcing bar erecting by overhang or a steel bar welding
An information processor such as computer for connecing equipment connection is used.For example, the reinforcing bar erecting by overhang sets with the reinforcement welding
It is standby can automatic job, and its job content is according to those information manipulations by computer.
After the completion of previous operations, step 120 can be carried out with setting etc. being pre-designed：Essence intersects be set with least two reinforcing bars
The predeterminated position on the tool frame, wherein at least two reinforcing bars form one first intersection point.
It is that steel is discharged by information processor such as computer manipulation such as reinforcing bar erecting by overhang in present pre-ferred embodiments
Muscle.In principle reinforcing bar and intersects at default intersection according to aforementioned blueprint be set with predeterminated position.As a example by shown in Fig. 3, many steel
Muscle 801,802,803,804,805 ... wait with its longitudinally approximately along the x directions defined in figure respectively actual be set with controlling
Tool frame 250, and positioned by fixture 255, many reinforcing bars 901,902,903,904,905 ... in addition are waited with its longitudinally
Approximately along the y directions defined in figure, x directions reinforcing bar is actual intersects be set with those；By taking reinforcing bar 801 and 901～905 as an example, reinforcing bar
801 intersect with 901～905 difference reality and form the first intersection point i1～i5.First intersection point preferably as actual welding point w1～
W5, or as Primary Reference during actual welding.
However, reinforcing bar the intersection of position and formation may be different from preset value actually on tool frame；Its
Origin cause of formation more than one, for example, whether reinforcing bar itself accurate etc. enough all may by straightening, the operation of reinforcing bar erecting by overhang
Impact.Therefore, first intersection point may not be equal to aforementioned default pad.If consequently, it is possible on the one hand reinforcement welding sets
It is standby to implement to weld according to original information under without adjustment, then will likely complete good welds；On the other hand, if
One intersection point differs greatly with default pad, then may also represent the problem of the network structure sheet on flatteness, and this may
Affect the intensity of structure backward.
To enable information processor such as computer and carrying out pad adjustment by its reinforcement welding equipment for manipulating, this
Invention includes step 130：An image and step 140 of at least two reinforcing bars first intersection points is covered in acquirement：Obtain the image
In first intersection point coordinate.Wherein, the image that step 130 is obtained is available for step 140 to obtain the coordinate of the first intersection point；First hands over
The coordinate of point is available for information processor manipulation reinforcement welding equipment positioning and welding, that is, in the welding of actual first intersection point.
For example, image 70a can be obtained for example, by shooting.It is to intersect be set with vertical those for preferably
On the direction of the x/y plane defined in the two dimensional surface that reinforcing bar is constituted, i.e. Fig. 2～Fig. 3, essence is centered on default pad
To be shot；In other words, the center of the image of acquirement is default pad position, and the coordinate at the wherein center preferably sets
For（0,0）.
In present pre-ferred embodiments, to seek step 140 in the degree of accuracy of coordinate that obtains, shoot the selected back of the body of reinforcing bar
Scape is not typically homochromy with reinforcing bar, and preferably light background, as shown in Figure 4 A；Additionally, the light in working environment is preferably avoided
Shadow is caused in background.Furthermore, sufficient light, good shooting equipment, or improve to shoot image quality and can all help the degree of accuracy and carry
Rise.
The coordinate of the first intersection point for obtaining in step 140 is available for an information processor to be used, such as at Jing information
Reason device carries out the contrast with aforementioned default welding coordinate, is provided as the foundation of pad adjustment.Obtain the coordinate of the first intersection point
Can there is many ways in which.In present pre-ferred embodiments, step 140 is further included and carries out image processing to image 70a, and is made
The coordinate of the first intersection point is calculated with the image after process.For example, image processing can comprising color segmentation, GTG, two
The step such as value and region selection, can all carry out the calculating of the coordinate of the first intersection point after each step.Specifically, shadow
It is more trifling trickle variegated to remove comprising color segmentation to be applied to the block of color similarity combines together as processing, obtain
Image 70b as shown in Figure 4 B, and obtain the reinforcing bar homogeneous region 71 in image 70b；Then, then by image gray scale, obtain as
Image 70c shown in Fig. 4 C；Afterwards, the binaryzation of general executable grey-tone image 70c, obtains image 70d as shown in Figure 4 D, wherein
The binaryzation can be such as adaptiveization binaryzation method.Gained image/imagery zone such as 70b～70d and 71 all can Jing meters after process
Calculation obtains the coordinate of the first intersection point.Image processing can be excluded with the factor for asking the coordinate of the first intersection point less relevant, and can be by
Image simplification, thus avoids many factors from disturbing the calculating of coordinate, and improves the efficiency of coordinate calculating.
In present pre-ferred embodiments, it is contemplated that before welding (when), reinforcing bar intersects the geometry formed after be set with
It is to obtain binaryzation image 70d laggard with obvious depths point (depth) in convex defect such as cross or X-shaped
Step carries out region selection, thus reduces image capturing range, so as to the process of follow-up profile, and convex package after profile is processed
(convex hull) process, the carrying out for taking the step such as convex defect (convexity) and the calculating centre of form (centroid).Further
For, it will be apparent that depths point means the calculating by depths point, will try to achieve more effectively and exactly the centre of form；Furthermore, the cross
Or depths point of the X-shaped in convex defect is integrated distribution, this also the favourable centre of form calculating for example improve result accuracy and
The efficiency of calculating.
In embodiments of the present invention, the mode of frame choosing for example can be carried out to image 70d and is chosen making region；Outside frame Q
Partially remove, leave the interior seemingly criss-cross patterns 72 of frame Q, as shown in Figure 4 E.Choose main purpose in the present embodiment in region
It is to obtain for example criss-cross pattern 72 of a simple geometric figure, thus avoids many factors from disturbing the calculating of coordinate, and improves
The efficiency that coordinate is calculated.Then, profile process is carried out to pattern 72, and by Contour tracing in the region chosen（That is pattern 72）
Reinforcing bar profile 73 is inside selected, i.e. red contours 73 as illustrated in figure 4f；Wherein the profile 73 is preferably the optional largest contours for obtaining.Its
Afterwards, perform convex package to the profile 73 to process, comprising the convex polygon 74 for obtaining encirclement reinforcing bar profile 73, i.e., such as Fig. 4 G institutes
The green octagon 70g for showing.Obtain and convex defect is obtained after convex package, such as by convex in four quadrants that pattern 72 is divided
The green side of polygon 74 and the red frame of reinforcing bar profile 73 go out like delta-shaped region.Obtain further being calculated thereon after convex defect
Depths point 70h, the i.e. coordinate of green point as shown at figure 4h；Those depths points are also quite more than 180 degree for the upper angle of reinforcing bar profile 73
Angle summit.
Above-mentioned Contour tracing, acquirement convex package and take convex defect and thereon depths point etc. action can respectively by letter
Numerical example such as cvFindContours (), cvConvexHull2 () and cvConvexityDefects () are performed.Obtain
The coordinate of depths point 75 can be used to calculate the centre of form.As an example it is assumed that the coordinate of four green points shown in Fig. 4 H is（x1,y1）、（x2,
y2）、（x3,y3）、（x4,y4）, then position of form center for（x1+x2+x3+x4）/ 4,（y1+y2+y3+y4）/ 4 ］, i.e., as shown in fig. 41
The coordinate of Huang point.Therefore, in present pre-ferred embodiments, the position of the centre of form 76 is coordinate of first intersection point in image；Change
Yan Zhi, Jing step 140 can obtain the first intersection point of actual intersecting reinforcing bar as shown in fig. 4j in image 70j and 70a～70i
Coordinate, for information processor such as computer and by its reinforcement welding equipment for manipulating pad adjustment is carried out.
After obtaining the coordinate of the first intersection point, step 150 can be carried out：The coordinate and the default welding for contrasting first intersection point is sat
Mark, calculates the displacement between the coordinate of first intersection point and the default welding coordinate and step 160：When the displacement is not zero
When, the coordinate for adjusting first intersection point is an actual welding coordinate.Furthermore, the coordinate when the first intersection point and default welding
When displacement between coordinate is not zero, reinforcing bar as shown in Figure 3 is crossed to form in actual be set with after tool frame first is represented
The non-default intersection as shown in Figure 2 of intersection point, and also do not presetting on pad on first intersection theory, the such as signal of Fig. 5.
As it was previously stated, information processor can use the information with regard to reinforcing bar predeterminated position and default intersection, to manipulate
Reinforcement welding equipment is welded in default pad.However, when the positional deviation of actual first intersection point presets pad,
Welding will be not so good as it is contemplated that preferable or optimal position is carried out for example not in the intersection welding of reinforcing bar, therefore cannot be completed
Good welds, or or even welding failure.Therefore, by calculating the displacement being not zero, information processor can be handed over first
The coordinate of point replaces original default welding coordinate, that is, with the coordinate of the first intersection point as actual welding coordinate, and controllable steel
Muscle welding equipment is carried out in the first intersection point, i.e. the welding of actual welding point.On the contrary, the coordinate and default welding when the first intersection point
When displacement between coordinate is zero, the first friendship that reinforcing bar as shown in Figure 3 is crossed to form in actual be set with after tool frame is represented
Point is essence in default pad as shown in Figure 2；Wherein the first intersection point is preferably as actual welding point.It is therefore not necessary to carry out
The adjustment that coordinate replaces, and default welding coordinate can be used as actual welding coordinate.
However, to the above-mentioned with being not limited to of the coordinate of the first intersection point.In other embodiments, the of gained can also be used
The be set with of the Coordinate Adjusting reinforcing bar of one intersection point, for example manipulating reinforcing bar erecting by overhang or tool frame carries out the adjustment of reinforcing bar, or washes in a pan
Eliminate unaccommodated reinforcing bar.
As shown in Fig. 6～Fig. 7, the present invention further includes step 170：The coordinate and the welding for calculating first intersection point is sat
The corresponding actual displacement of the displacement between mark；Wherein, in present pre-ferred embodiments, actual displacement refers to reinforcement welding and sets
The standby actual displacement for carrying out.The parasang of the actual displacement be usually centimetre.Therefore, the controllable steel bar welding of information processor
The equipment of connecing carries out the actual displacement and such as moves horizontally how many centimetres, and to arrive at the first intersection point, i.e. actual welding point is welded.
The present invention is comprising the relation between the displacement and actual displacement obtained in image between coordinate.This step can be included in
Carry out in aforementioned steel bar welding method, also can be additionally carried out.In detail such as the explanation of embodiment.
The present invention further adjusts system comprising a kind of reinforcement welding.Reinforcement welding adjustment system 10 as shown in Figure 8 A is real
Example is applied, comprising reinforcing bar be set with device 200, video capturing device 300 and information processor 400.Reinforcing bar be set with device 200
Intersect be set with to form steel mesh reinforcement structure mainly at least two reinforcing bars.Reinforcing bar be set with device 200 (please join comprising tool frame 250
Fig. 2～Fig. 3), at least two reinforcing bars are to intersect be set with the tool frame, and form the first intersection point.Video capturing device 300 is
Such as camera, video camera etc. shoot equipment, are advantageously provided in the top of tool frame 250, and its camera lens essence just at least two steel
Muscle and the first intersection point, to obtain the image M for covering at least two reinforcing bars and the first intersection point.Furthermore, video capturing device 300 compared with
It is good to be connected with the such as computer of information processor 400.Information processor 400 can the reception image input of self imaging acquisition device 300
Signal I, and preferably, with the image processing such as function such as color segmentation, GTG, binaryzation and/or region selection.
In present pre-ferred embodiments, information processor 400 is loaded into a program, can perform and obtains the first intersection point
The action of coordinate；Additionally, for more preferably, the program can be in the receives input of 400 self imaging acquisition device of information processor 300
After signal I, perform to obtain the coordinate of the first intersection point.
For example, information processor 400 is loaded into a program, can function cvFindContours as described above
(), cvConvexHull2 () and cvConvexityDefects () perform Contour tracing, the process of convex package, Yi Jiqu
Obtain the action of convex defect；Additionally, preferably, the program can further perform the action for calculating the centre of form, and obtain the first intersection point
Coordinate.According to situation, the coordinate of the first intersection point can be judged or be adjusted to actual welding coordinate by information processor 400.
In present pre-ferred embodiments, as shown in Figure 8 B, reinforcement welding adjustment system 10 further sets with reinforcement welding
Standby 50 connection, and its operation can be manipulated by its information processor 400；Furthermore, reinforcing bar be set with device 200 can further include steel
Muscle erecting by overhang 600, hanging and release reinforcing bar are in tool frame.Video capturing device 300 in reinforcement welding adjustment system 10 is then
May be disposed on reinforcement welding equipment 50.On the other hand, information processor 400 preferably stores reinforcing bar predeterminated position and presets
The information such as intersection, and can be carried out using the reinforcement welding equipment 50 of those information manipulation connections and/or reinforcing bar erecting by overhang 600
Welding and reinforcing bar hanging, operation is discharged (in tool frame) etc..
For example, information processor 400 may compare the coordinate of the first intersection point and from default intersection acquirement
Default welding coordinate, for example, calculate the displacement between two coordinates.When displacement is not zero, visual first intersection point is not in default pad
On.Traditionally under without Regulation mechanism, default pad is substantially equivalent to actual welding point；In comparison, in the present invention
In embodiment, when the first intersection point is obtained not when the result of pad is preset, information processor 400 can be by the seat of the first intersection point
Mark adjustment is judged to actual welding point coordinates, that is, replace the default welding coordinate.Furthermore, information processor 400 preferably may be used
Output signal O is produced, indicates that reinforcement welding equipment 50 adjusts the position of such as welding gun and/or performs welding.
In other embodiments of the present invention, information processor 400 or instruction reinforcing bar erecting by overhang or tool frame can be produced
Perform output signal O of reinforcing bar adjustment '.
【Embodiment】
Embodiment 1：
The present invention includes the relation between the displacement and actual displacement obtained in image between coordinate.This step is preferably in execution
Carry out before reinforcement welding, to obtain this relation such as functional relation in advance, for the calculating of such as step 170.
In embodiment 1, be first simulate actually prepare weld job situation, by reinforcing bar to intersect be set with the form of set
It is placed on tool frame；Wherein preferably the substantially orthogonal be set with of those reinforcing bars is made, and the quantity of two reinforcing bars is enough.Two reinforcing bars
800 intersect with 900 reality；Now, the intersection point that reinforcing bar is crossed to form is defined as into datum mark R0, as shown in Figure 9.Then, obtain
Cover the image of two reinforcing bar and datum mark R0.
Specifically, it is that in the two dimensional surface that vertically those reinforcing bars for intersecting be set withs are constituted, i.e. xy defined in Fig. 9 puts down
On the direction in face, essence is shot centered on datum mark R0.Therefore, on the central tenet of the image of acquirement on the basis of point
R0 positions, and coordinate of the center in image be preferably defined as（0,0）；In other words, the coordinate of datum mark R0 is set to（0,
0）.Additionally, in the embodiment of the present invention and embodiment 1, the equipment for being shot is advantageously provided on reinforcement welding equipment, and it is special
Be not such as welding gun device top, to reflect the weld of hypothesis（Embodiment 1）, or reflect in abovementioned steps wait to preset/
Actual welding point.Therefore, when shooting equipment/default pad of welding gun alignment, and the coordinate of image center welds coordinate for default,
The actual reinforcing bar intersection point of image simulation then centered on datum mark R0（Such as aforementioned first intersection point）Situation on default pad.
Then, with datum mark R0 as starting point follow shot equipment/welding gun；Wherein it is along reinforcing bar 800 or 900, i.e., in Fig. 9
Defined in x or y directions on reference point R1～R4 at datum mark R02mm shot, and amount to four shadows of reentrying
Picture, the wherein x are with y directions also as the x and y-axis of image coordinate.It is mobile compared to the shooting carried out centered on datum mark R0
Shoot the shooting after equipment/welding gun and deviate image center equivalent to the datum mark R0 in gained image；In other words, if regarding device for shooting
Material/default the pad of welding gun alignment, and the coordinate of image center is default welding coordinate, then centered on reference point R1～R4
The actual reinforcing bar intersection point of four image simulations（Such as aforementioned first intersection point）Deviate the situation of default intersection.Additionally, shooting equipment/
The displacement of welding gun can adjust.In the present embodiment, close first intersection point of the distance of 2mm deviates the most narrow spacing of default intersection
From.On the other hand, can adopt less than four or the reference point more than four.
Five images for obtaining then can as shown in Fig. 4 A～Fig. 4 J method, that is, obtain and image and calculate reinforcing bar intersection point
Calibration method is sat, reinforcing bar intersection point/coordinates of the datum mark R0 in five images is obtained.Wherein first image is with datum mark R0
To shoot what center obtained, therefore the coordinate of datum mark R0 is in principle（0,0）；Remaining image is respectively with reference point R1～R4
Obtain to shoot center, therefore the coordinate of datum mark R0 is in principle on x or y-axis, is sequentially for example（n,0）、（0,n）、（- n,
0）With（0 ,-n）.The coordinate of datum mark R0（n,0）、（0,n）、（- n, 0）Or（0 ,-n）With each reference point R1, R2, R3 or
The coordinate of R4（It is all in the present embodiment（0,0））Between displacement can with actual mobile direction with apart from corresponding.In this enforcement
In example, the displacement n of coordinate is equivalent to the actually displacement of 2mm.Furthermore, when the coordinate for calculating reinforcing bar intersection point is
For example（n,0）, it is known that reinforcing bar intersection point is that at the right 2mm distances of default pad, therefore preferably adjustment welding gun is in the x direction
2mm move right to actual reinforcing bar intersection point, is welded.
Embodiment 2：
The method that the illustration of embodiment 1 obtains the relation between displacement and actual displacement in image between coordinate；Wherein n is visual
For coordinate unit, and each coordinate unit is equivalent to actual range 2mm.Furthermore, separately can be according to reality common in weld job
Displacement sets up more multiple reference pointses.
As shown in Figure 10 A, in example 2, centered on datum mark R0 come outside being shot, then respectively with 24
Shot around datum mark R0 and centered on the reference point of x, y direction essence equidistant arrangement defined in figure, amounted to
To 25 images as shown in Figure 10 B；Two wherein adjacent in an x or y direction reference points are at a distance of 2mm.Now, preferably, it is real
Border reinforcing bar intersection point such as the first intersection point deviate 2mm, 4mm displacement that the usual displacement of default intersection is included on x or y directions,
Or other displacements therebetween.
Multiple reference points set up beneficial quick calculating actual displacement.As an example it is assumed that reinforcing bar intersection point often deviates default
Pad（2mm, -4mm）Displacement, then can be obtained in principle in coordinate by image（N, -2n）Displacement, and can quickly obtain
It is corresponding（2mm, -4mm）Actual displacement, to adjust welding gun.
When the integral multiple of bias non-2 or 4mm, can be after coordinate of the reinforcing bar intersection point in image be obtained according to such as interpolation
Method obtains actual displacement；Or, whether coordinate is can determine whether be close to arbitrary reference point, and can be in the case where welding effect is not affected with the ginseng
Examination point calculates actual displacement.
Embodiment 3：
The present invention is further used in the datum mark and reference point set up in embodiment 2, and test is by image processing and friendship
The degree of accuracy of the actual displacement that the calculating of point coordinates is obtained.
In testing, it is arbitrary reinforcing bar for moving crossbar system be set with, reinforcing bar intersection point is produced relative to such as datum mark R0
Actual displacement (α1,β1)；Tester is the known actual displacement.On the other hand, then by image processing and the intersecting point coordinate of acquirement
Calculate actual displacement (α2,β2).Then, known actual displacement (α is calculated1,β1) with calculate actual displacement (α2,β2) error
Value.
The intersection point and 13mm of 6mm reinforcing bars and the intersection point of 14mm reinforcing bars are tested and result is respectively such as table 1 below and table
2：
Table 1：
Table 2：
According to actual welding operation situation, error amount is preferably less than 2.5mm.Table 1 and table 2 are shown by image processing and acquirement
Intersecting point coordinate（That is Fig. 4 A～method shown in Fig. 4 J）The error amount for calculating the method for actual displacement is being to the maximum compared with fine steel rib
0.5, it is being 1.12 compared with bar reinforcement；In other words, even if deviateing reinforcing bar intersection point (i.e. the first intersection point) welding, its bias because of error
Still do not affect the carrying out of good welds.
The present invention is been described by by above-mentioned related embodiment, but above-described embodiment only implements the example of the present invention.
It must be noted that, it has been disclosed that embodiment be not limiting as the scope of the present invention.On the contrary, be contained in claim spirit and
The modification of scope and impartial setting are both contained in the scope of the present invention.
Claims (11)
1. a kind of steel bar welding method, it is characterised in that the method is included：
Determine that reinforcing bar intersects a predeterminated position of be set with and a default welding coordinate of default reinforcing bar intersection on a tool frame；
Essence intersects the predeterminated position of be set with least two reinforcing bars on the tool frame, and wherein at least two reinforcing bars form one first
Intersection point；
An image of at least two reinforcing bars first intersection point is covered in acquirement；
The coordinate of first intersection point in the image is obtained, comprising：
A region is chosen from the image, and a reinforcing bar profile is obtained in the region chosen；
Perform convex package to process, comprising the convex polygon for obtaining the encirclement reinforcing bar profile；
Convex defect is obtained, comprising at least summit for further obtaining the reinforcing bar profile, the wherein angle on the summit is more than 180
Degree；And
The centre of form is calculated by the coordinate on an at least summit；The position of the wherein centre of form is the coordinate of first intersection point；
The coordinate and the default welding coordinate of first intersection point are contrasted, the coordinate and the default welding coordinate of first intersection point is calculated
Between a displacement；And
When the displacement is not zero, the coordinate for adjusting first intersection point is an actual welding coordinate.
2. steel bar welding method as claimed in claim 1, it is characterised in that at least two reinforcing bars for intersecting be set with constitute or two
Dimensional plane, and the step of acquirement image be contained in the vertical direction photographs of the two dimensional surface at least two reinforcing bars and this
One intersection point.
3. steel bar welding method as claimed in claim 1, it is characterised in that include the step of the coordinate for obtaining first intersection point
The image processing of the image is carried out, the block of color similarity is combined together, variegated and obtaining reinforcing bar in the image one is removed
Reinforcing bar homogeneous region.
4. steel bar welding method as claimed in claim 3, it is characterised in that the image processing step is comprising applying color segmentation
So that the block of the color similarity to be combined together, and GTG, binaryzation and the region selection the step of.
5. steel bar welding method as claimed in claim 3, it is characterised in that the image processing step is included from the reinforcing bar homogeneity
Region calculates the coordinate of first intersection point.
6. steel bar welding method as claimed in claim 4, it is characterised in that enter the step of the coordinate of the acquirement first intersection point
One step is included：
Contour tracing is carried out, is included in the region of selection and is obtained the reinforcing bar wheel of cross pattern or close cross pattern
It is wide.
7. a kind of reinforcement welding adjusts system, it is characterised in that include：
One reinforcing bar be set with device, intersects be set with to form a steel mesh reinforcement structure at least two reinforcing bars；Wherein the reinforcing bar be set with is filled
Put comprising a tool frame, and at least two reinforcing bars intersect be set with the tool frame, and form one first intersection point；
An image of at least two reinforcing bars first intersection point is covered in one video capturing device, acquirement；And
One information processor, is connected with the video capturing device, and it is pre- with one to obtain the coordinate of first intersection point in the image
If welding coordinate compares；The coordinate for wherein obtaining first intersection point in the image is included：
A region is chosen from the image, and a reinforcing bar profile is obtained in the region chosen；
Perform convex package to process, comprising the convex polygon for obtaining the encirclement reinforcing bar profile；
Convex defect is obtained, comprising at least summit for further obtaining the reinforcing bar profile, the wherein angle on the summit is more than 180
Degree；And
The centre of form is calculated by the coordinate on an at least summit；The position of the wherein centre of form is the coordinate of first intersection point；
Wherein the information processor is according to the coordinate of first intersection point and the result selectivity compared with the default welding coordinate
The coordinate for adjusting first intersection point is an actual welding coordinate.
8. reinforcement welding as claimed in claim 7 adjusts system, it is characterised in that the video capturing device is arranged at the tool
Frame top, and with camera lens essence just at least two reinforcing bars and first intersection point.
9. reinforcement welding as claimed in claim 7 adjusts system, it is characterised in that the information processor is loaded into a journey
Sequence；The program performs to obtain first friendship after the information processor receives an input signal from the video capturing device
The coordinate of point.
10. reinforcement welding as claimed in claim 7 adjusts system, it is characterised in that the information processor is loaded into a journey
Sequence, performs Contour tracing, the process of convex package and obtains the action of convex defect.
11. reinforcement weldings as claimed in claim 10 adjust system, it is characterised in that the program further performs the calculating centre of form
Action, and the position of the centre of form is the coordinate as first intersection point.
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| TW102108468 | 2013-03-11 | ||
| TW102108468A TWI517928B (en) | 2013-03-11 | 2013-03-11 | Method for welding reinforcing bars and adjustment system for welding reinforcing bars doing the same |
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| CN112991327B (en) * | 2021-04-14 | 2023-05-30 | 河北省科学院应用数学研究所 | Steel grid welding system, method and terminal equipment based on machine vision |
| CN113704847A (en) * | 2021-08-18 | 2021-11-26 | 武汉武建机械施工有限公司 | Lacing plate welding spot calculation method, system and terminal of foundation pit lacing plate type four-limb lattice column |
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| DE3039428C2 (en) * | 1980-10-18 | 1985-05-02 | Sumitomo Kinzoku Kogyo K.K., Osaka | Process for the manufacture of clad steel products |
| CN1085141A (en) * | 1992-09-30 | 1994-04-13 | 陈文祥 | Steel reinforcement cage preparation method and reinforcing bar are adjusted rod and continued access device |
| CN1101693A (en) * | 1993-10-10 | 1995-04-19 | 李岭群 | Reinforcing bar structure complex shear tube |
| CN101700555B (en) * | 2009-11-20 | 2011-06-15 | 天津市建科机械制造有限公司 | Automatic wielding mechanical device for forming machine of numerical control reinforcing cage |
| CN102383376B (en) * | 2011-08-15 | 2013-11-27 | 中铁六局集团有限公司 | Ground moulding and integral hoisting method for large-tonnage steel bar bound finished product member |
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| CN104043909A (en) | 2014-09-17 |
| TW201434571A (en) | 2014-09-16 |
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