CN107764205A - High-frequency resistance welding (HFRW) seam center three-dimensional detection device and detection method are scanned based on line-structured light - Google Patents
High-frequency resistance welding (HFRW) seam center three-dimensional detection device and detection method are scanned based on line-structured light Download PDFInfo
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- CN107764205A CN107764205A CN201711079863.2A CN201711079863A CN107764205A CN 107764205 A CN107764205 A CN 107764205A CN 201711079863 A CN201711079863 A CN 201711079863A CN 107764205 A CN107764205 A CN 107764205A
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- laser
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- article part
- welded article
- weld
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
Abstract
The present invention, which provides a kind of line-structured light scanning high-frequency resistance welding (HFRW) seam center three-dimensional detection device and detection method, described device of being based on, includes line structure optical sensor, displacement of the lines transmission system and computer.Wherein line structure optical sensor includes laser, industrial camera and fixed panel；Displacement of the lines transmission system includes base, stepper motor and controllor for step-by-step motor.Welded article part is placed on the base of transmission system, scanned using line-structured light, industrial camera shoots to obtain seam laser optical strip image, handles to obtain weld seam three dimensional point cloud by software systems, analysis obtains the shape characteristics such as weld width, height, so as to judge weldquality.The present invention has the advantages that precision is high, securely and reliably, detect in real time, improves the efficiency of welding quality inspection, it is possible to achieve the automatic detection of weldquality.
Description
Technical field
The present invention relates to three-dimensional values, and in particular to the three-dimensional inspection of high-frequency resistance welding (HFRW) seam center based on line-structured light scanning
Survey.
Background technology
Mainly reinforcing bar weld seam is detected using welding inspection ruler at present.Welding inspection ruler is surveyed using strain line and vernier
The principles such as amount, examine the measurement instrument of the weld width of weldment, height, welded gaps, bevel angle, undercut depth etc..Inspection
Test chi is influenceed by many factors in use, and the result detected can have different errors, and artificial detection is taken
When it is laborious, inefficient, can not obtain in real time face of weld three-dimensional appearance information carry out quality testing.
Structure light method is one of method of machine vision metrology, and it includes structure light, line-structured light and area-structure light
Method, the topography measurement for body surface can be completed using Structure light method.But have not yet to see and utilize Structure light method pair
The report that seam center measures, main problems faced are how fast, accurately to obtain the point cloud on seam center
One of data, the problem Producing reason are the influence of the reflected light of laser optical strip image, can not accurately determine laser
The center of line in welded joints.
The content of the invention
It is an object of the invention to overcome above-mentioned deficiency, there is provided one kind is based on line-structured light scanning alternating-current resistance welding line shape
Looks three-dimensional detection device and detection method；Its is simple to operate, and detection efficiency is high, detects reliable in quality.
To reach above-mentioned purpose, present invention employs following technical scheme：
One kind is included based on line-structured light scanning high-frequency resistance welding (HFRW) seam center three-dimensional detection device, the three-dimensional detection device
Line structure optical sensor and computer；The line structure optical sensor includes the laser for scanning welded article part and is used for
Gather the industrial camera of welded article part laser optical strip image, the line-structured light plane of laser and the weld seam on welded article part surface
(when on laser projection to weld seam) is intersecting；Industrial camera is connected with computer；Computer includes software systems, the software systems
Including video data acquiring module, Point Cloud Processing module, I/O and control module and system calibrating module；
The system calibrating module is used to demarcate industrial camera inner parameter and external parameter；The external parameter refers to
Position orientation relation between line-structured light plane and industrial camera；
The video data acquiring module is used for the welded article part laser striation image transmitting of industrial camera collection to point
Cloud data processing module；The welded article part laser optical strip image refers to be incident upon welded article part table by what industrial camera gathered
Face and the laser line image being distorted；
The Point Cloud Processing module is used for according to welded article part laser optical strip image and passes through light obtained by calibrating
Relation acquisition weld seam three dimensional point cloud between bar image pixel coordinates and real world coordinate, and measure weld seam width and
Highly；
The I/O is used to monitor the input of industrial camera and notifies video data acquiring module to start or stop with control module
Only gather video image, and the cloud data for being obtained according to Point Cloud Processing module and weld measurement result output letter
Number and by Computer display.
Preferably, the Point Cloud Processing module includes submodule A, submodule B, submodule C and submodule D；Submodule
Block A is optical losses subpixel coordinates extraction module, for carrying out sub-pixel precision extraction to laser striation centre coordinate；Submodule
Block B is weld seam and object segmentation module, and for laser optical losses to be split according to welded article part with weld seam, reservation is located at
The laser striation centre coordinate of commissure；Submodule C is image coordinate and world coordinates mapping block, for the position that will be partitioned into
Laser striation centre coordinate in commissure is converted to world coordinates, obtains face of weld cloud data；Submodule D obtains for parameter
Take and display module, for calculating the width of weld seam and elevation information and generating weld seam three in real time according to face of weld cloud data
Dimension module.
Preferably, in the line structure optical sensor, laser is selected from the feux rouges that wave-length coverage is 630nm~660nm and swashed
Light device, red laser divergence is low, collimation is good, transmitance is high, therefore chooses 650nm or so red laser；Industrial phase
Machine is 31 °~43 ° with vertical direction angular range, contains laser striation to ensure that industrial camera gathers image, wherein, choose
37 °, striation can be made to be in image center location, be easy to extract complete optical strip image information.
Preferably, the three-dimensional detection device also includes displacement of the lines transmission system and in the displacement of the lines transmission system
The fixed panel of side, laser and industrial camera are arranged on fixed panel；Displacement of the lines transmission system includes stepper motor, step
Stepper motor controller, linear mechanically moving device driven by stepper motors and the base for carrying welded article part；Base
It is fixed on the mechanical device；Stepper motor is connected with controllor for step-by-step motor, controllor for step-by-step motor and the computer
It is connected.
Preferably, the I/O and control module be while notifying video data acquiring module to stop collection video image,
Displacement of the lines transmission system is stopped driving base and carry out linearly moving action.
One kind is comprised the following steps based on line-structured light scanning high-frequency resistance welding (HFRW) seam center 3 D detection method：
1) use line-structured light caused by laser to scan welded article part, while welded article part is collected by industrial camera
Laser optical strip image；The line-structured light plane of laser and weld seam (when on laser projection to the weld seam) phase on welded article part surface
Hand over；
2) by being handled to obtain weld seam three dimensional point cloud and weld width to welded article part laser optical strip image
And height shape characteristic.
Preferably, the step 2) specifically includes following steps：The welded article part laser optical strip image gathered in real time is defeated
Enter computer, by computer according to the welded article part laser optical strip image and optical strip image pixel coordinate and real world coordinate
Between relation, world coordinates will be converted to positioned at the laser striation centre coordinate of face of weld, obtain face of weld laser light
Each point D coordinates value on bar；Weld width (section of weld joint both ends horizontal distance) and height (weldering are measured by the coordinate value
Stitch the vertical range between the peak of current peak and welded article part surface).
Preferably, the extracting method of the laser striation centre coordinate of the face of weld comprises the following steps：First to quilt
Weld object laser optical strip image and carry out dynamic threshold segmentation, obtain interesting image regions；In area-of-interest application gray scale threshold
Value gravity model appoach asks for the preliminary center of structural light stripes；After obtaining the preliminary center of structural light stripes, striped is obtained using Sobel operators
The gradient vector of pixel, then choose each pixel neighborhood of a point (the vertical number of pixels span of direction block be 5~11,
Being determined by striation width, horizontal pixel number span is 2~5, is determined by optical strip image horizontal resolution, such as 7 × 2)
Direction as the point is fast, asks for the horizontal gradient and vertical gradient of direction block, is calculated by horizontal gradient and vertical gradient
Deflection to direction block is the field of direction of direction block, and is asked for along direction field direction in the sub-pixel precision of laser striation
The heart；Finally, the sub-pix central point for being incident upon welded article part surface is removed on welded article part laser optical strip image, retains projection
In the sub-pix central point of face of weld.
Preferably, the relation between the optical strip image pixel coordinate and real world coordinate be by by laser and
The line structure optical sensor that industrial camera is formed is demarcated and obtained.
Preferably, the step 1) specifically includes following steps：Welded article part is placed on above-mentioned displacement of the lines transmission system
Base on, with welded article part move, using industrial camera continuous acquisition welded article part laser optical strip image, and sequentially input
Computer is handled, until laser completes the scanning to weld seam on whole welded article part.
Beneficial effects of the present invention are embodied in：
The present invention can use non-contact measurement to obtain the shape characteristics such as width and the height of weld seam, available for judging
Weldquality, and realize the automatic detection of weldquality, have the advantages that precision it is high, it is safe and reliable, detect in real time, improve
The efficiency of welding quality inspection.
Further, the present invention is extracted by optical losses subpixel coordinates, solves the reflection of welded article part light for swashing
The influence of light optical strip image identification, improves measurement accuracy.
Brief description of the drawings
Fig. 1 is the structural representation of high-frequency resistance welding (HFRW) seam center three-dimensional detection device；
In Fig. 1：1st, laser, 2, industrial camera, 3, welded article part, 4, controllor for step-by-step motor, 5, computer, 6, bottom
Seat, 7, mechanical device.
Fig. 2 is laser striation sub-pix center extraction flow chart.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.The embodiment is only used for explaining the present invention,
Rather than limit the invention.
Embodiment
It is of the present invention based on line-structured light scanning high-frequency resistance welding (HFRW) seam center three-dimensional detection device referring to Fig. 1, including
650mm red lasers, model WAT-902H2 industrial camera, controllor for step-by-step motor, computer and base, feux rouges
Laser 1 is fixed on composition line structure optical sensor, industrial camera 2 in same panel with industrial camera 2 and tilted down, and with
Vertical direction is in 37 ° of angle, and base 6 is fixed on the mechanical device 7 containing stepper motor (model ASM66AC), machinery
Device 7 can be such that base 6 is linearly moved under driving stepper motor, and welded article part 3 is then fixed on base 6, industrial camera 2
And controllor for step-by-step motor 4 is connected with computer 5 respectively, stepper motor is connected with controllor for step-by-step motor 4.
Said apparatus is a kind of non-contact scanning device, for obtaining weld seam three-dimensional information.One piece of tool is placed in base 6
There is the oil-gas pipeline of weld seam, controllor for step-by-step motor panel includes power switch, advance indicator lamp and retreats indicator lamp, opens
Controllor for step-by-step motor power switch and connect red laser power supply, by red laser in a manner of perpendicular to weld seam it is downward
Welded article part 3 (the line-structured light plane of laser intersects vertically with the weld seam on welded article part) is projected to, is sent out by computer
Go out instruction, controllor for step-by-step motor 4 receives user instruction control, and reading signal and being sent to stepper motor makes its action, drives
Base 6 linearly moved (if sending advancement commands, controllor for step-by-step motor receives instruction, and advance indicator lamp starts to flash,
Control stepper motor moves in the direction of the clock, and drives base 6 to carry out displacement of the lines action on mechanical device, refers to if sending retrogressing
Making, then controllor for step-by-step motor receives instruction, retreats indicator lamp and starts to flash, and control stepper motor rotates counterclockwise,
Base 6 is driven to carry out reverse line displacement action on mechanical device), and notify industrial camera 2 to start to gather video.The present apparatus
Containing automatic expiry feature, current welded article part image is shot by industrial camera first, computer enters to welded article part image
Row processing, if laser striation is no longer project at face of weld in present image, judge that scanning is completed, computer, which is sent, to be stopped
Instruction acts stepper motor stopping, and industrial camera stops shooting.In addition, the present apparatus also includes manual termination function, when certainly
When dynamic expiry feature is invalid, can manual termination system, leave the motor off action, industrial camera stops shooting.
Industrial camera 2 shoots the laser line image i.e. welded article part laser light for being incident upon welded article part surface and being distorted
Bar image, image is transmitted to computer 5 by data wire, computer 5 is handled the optical strip image of collection, obtains weld seam
D coordinates value and reconstruct weld seam threedimensional model, and shown by computer display, specifically include following steps：
(1) optical losses subpixel coordinates extract
As shown in Fig. 2 carrying out dynamic threshold segmentation to optical strip image first, interesting image regions (ROI), application are obtained
Gray threshold gravity model appoach tentatively asks for fringe center, and after obtaining the preliminary center of structural light stripes, striped is obtained using Sobel operators
The gradient vector of pixel, it is fast as the direction of the point then to choose 7 × 2 neighborhoods of each pixel, asks for the water of direction block
Flat ladder degree and vertical gradient, the i.e. direction block of deflection of direction block can be calculated by horizontal gradient and vertical gradient
The field of direction, and ask for along direction field direction the sub-pixel precision center of laser stripe.
(2) segmentation of weld seam and welded article part
Because welded article part is oil-gas pipeline, its section is circle, is arc by the oil-gas pipeline section of laser projection
Shape, it is each to choose the laser stripe sub-pixel precision center left and right ends (i.e. outside along weld width direction) that (1) step extracts
200 pixels (depending on welded article part size) carry out curve fitting (may be selected not same order according to welded article part cross sectional shape
Several fittings), obtain the curvilinear equation of oil-gas pipeline cross sectional shape.Removed in welded article part optical strip image and belong to the curve side
Pixel (the sub-pix central point for being incident upon welded article part surface) in journey in each neighborhood of pixel 3 × 3, reservation do not exist
Pixel in the neighborhood, the point of reservation is the sub-pix central point for being incident upon face of weld, therefore realizes weld seam in image
With the segmentation of welded article part.
(3) demarcation of line structure optical sensor
The demarcation of line structure optical sensor includes the demarcation of inner parameter and external parameter, is marked by gridiron pattern and Zhang Zhengyou
Determine method to demarcate industrial camera inner parameter, external parameter is the position orientation relation of structure optical plane and industrial camera, is passed through
Sawtooth Bar Method is demarcated to external parameter.Last calibration result is pixel coordinate and real world coordinate in optical strip image
Between relation.
(4) image coordinate maps with world coordinates
As stepper motor continues to act, industrial camera continues the welded article part laser optical strip image after shooting action, swashs
Light can complete the scanning of whole weld seam, the laser striation center point coordinate of each moment projection in welded joints be obtained, by upper
The relation between pixel coordinate and real world coordinate in calibration result i.e. optical strip image is stated, all center point coordinates can be changed
For real world coordinate, so as to obtain the cloud data of weld seam；Then world coordinate system is established by opengl and cloud number will be put
According to threedimensional model is depicted as, shown in display.
According to the three-dimensional coordinate data of weld seam, the characteristic informations such as real-time width, the height of weld seam can be obtained by computer, and
Display width and height number directly perceived over the display, and judge that weld seam welds matter by characteristic information and existing Standard heading
Amount.
The invention has the advantages that：
1. using non-contact optical 3-D scanning, the reliability of system is improved.
2. being compared with artificial detection technology, detection efficiency is improved.
3. measurement accuracy is high, up to 0.1mm.
4. it can realize that face of weld continuously scans.
5. can be handled by industrial camera captured in real-time weld image, it is easy to detect in real time.
Claims (10)
1. one kind is based on line-structured light scanning high-frequency resistance welding (HFRW) seam center three-dimensional detection device, it is characterised in that：The three-dimensional is examined
Surveying device includes line structure optical sensor and computer (5)；The line structure optical sensor includes being used to scan welded article part (3)
Laser (1) and industrial camera (2) for gathering welded article part laser optical strip image, the line-structured light of laser (1)
Plane intersects with the weld seam on welded article part (3)；Industrial camera (2) is connected with computer (5)；Computer (5) includes software system
System, the software systems include video data acquiring module, Point Cloud Processing module, I/O and control module and system calibrating mould
Block；
The system calibrating module is used to demarcate industrial camera (2) inner parameter and external parameter；The external parameter refers to
Position orientation relation between line-structured light plane and industrial camera (2)；
The video data acquiring module is used for the welded article part laser striation image transmitting by industrial camera (2) collection to putting cloud
Data processing module；The welded article part laser optical strip image refers to be incident upon welded article part by what industrial camera (2) gathered
(3) surface and the laser line image being distorted；
The Point Cloud Processing module is used for according to welded article part laser optical strip image and passes through striation figure obtained by calibrating
As the Relation acquisition weld seam three dimensional point cloud between pixel coordinate and real world coordinate, and measure the width and height of weld seam
Degree；
The I/O is used to monitor the input of industrial camera (2) and notifies video data acquiring module to start or stop with control module
Only gather video image, and the cloud data for being obtained according to Point Cloud Processing module and weld measurement result output letter
Number and show.
2. a kind of according to claim 1 scan high-frequency resistance welding (HFRW) seam center three-dimensional detection device based on line-structured light, its
It is characterised by：The Point Cloud Processing module includes submodule A, submodule B, submodule C and submodule D；Submodule A is light
Bar center subpixel coordinates extraction module, for carrying out sub-pixel precision extraction to laser striation centre coordinate；Submodule B is weldering
Seam and object segmentation module, for laser optical losses to be split according to welded article part with weld seam, reservation is located at commissure
Laser striation centre coordinate；Submodule C is image coordinate and world coordinates mapping block, for being located at weld seam by what is be partitioned into
The laser striation centre coordinate at place is converted to world coordinates, obtains face of weld cloud data；Submodule D is parameter acquiring with showing
Show module, for calculating the width of weld seam and elevation information and generating weld seam three-dimensional mould in real time according to face of weld cloud data
Type.
3. a kind of according to claim 1 scan high-frequency resistance welding (HFRW) seam center three-dimensional detection device based on line-structured light, its
It is characterised by：In the line structure optical sensor, laser (1) is selected from the red laser that wave-length coverage is 630nm~660nm
Device；Industrial camera (2) is 31 °~43 ° with vertical direction angular range.
4. a kind of according to claim 1 scan high-frequency resistance welding (HFRW) seam center three-dimensional detection device based on line-structured light, its
It is characterised by：The three-dimensional detection device also includes displacement of the lines transmission system and consolidating above the displacement of the lines transmission system
Determine panel, laser (1) and industrial camera (2) are arranged on fixed panel；Displacement of the lines transmission system includes stepper motor, step
Stepper motor controller (4) and the base (6) driven by stepper motors for being used to carry welded article part (3)；Stepper motor and stepping
Electric machine controller (4) is connected, and controllor for step-by-step motor (4) is connected with the computer (5).
5. a kind of according to claim 4 scan high-frequency resistance welding (HFRW) seam center three-dimensional detection device based on line-structured light, its
It is characterised by：The I/O while notifying video data acquiring module to stop collection video image, makes line position with control module
Move transmission system and stop the linearly moving action of driving base (6) progress.
6. one kind is based on line-structured light scanning high-frequency resistance welding (HFRW) seam center 3 D detection method, it is characterised in that：Including following
Step：
1) use caused by laser (1) line-structured light scanning welded article part (3), while by industrial camera (2) collect by
Weld object laser optical strip image；The line-structured light plane of laser (1) intersects with the weld seam on welded article part (3)；
2) by being handled to obtain weld seam three dimensional point cloud and weld width and height to welded article part laser optical strip image
Spend shape characteristic；The welded article part laser optical strip image refers to be incident upon welded article part (3) by what industrial camera (2) gathered
Surface and the laser line image being distorted.
7. a kind of according to claim 6 scan high-frequency resistance welding (HFRW) seam center 3 D detection method based on line-structured light, its
It is characterised by：The step 2) specifically includes following steps：The welded article part laser optical strip image gathered in real time is inputted and calculated
Machine (5), by computer (5) according to the welded article part laser optical strip image and optical strip image pixel coordinate and real world coordinate
Between relation, world coordinates will be converted to positioned at the laser striation centre coordinate of face of weld, obtain face of weld laser light
Each point D coordinates value on bar；Weld width and height are measured by the coordinate value.
8. a kind of according to claim 7 scan high-frequency resistance welding (HFRW) seam center 3 D detection method based on line-structured light, its
It is characterised by：The extracting method of the laser striation centre coordinate of the face of weld comprises the following steps：First to welded article part
Laser optical strip image carries out dynamic threshold segmentation, obtains interesting image regions；In area-of-interest application gray threshold center of gravity
Method asks for the preliminary center of structural light stripes；After obtaining the preliminary center of structural light stripes, stripe pixel point is obtained using Sobel operators
Gradient vector, it is fast as the direction of the point then to choose 5~11 × 2~5 neighborhoods of each pixel, asks for the water of direction block
Flat ladder degree and vertical gradient, the deflection i.e. direction of direction block of direction block is calculated by horizontal gradient and vertical gradient
, and ask for along direction field direction the sub-pixel precision center of laser striation；Finally, get in welded article part laser optical strip image
Except the sub-pix central point for being incident upon welded article part surface, retain the sub-pix central point for being incident upon face of weld.
9. a kind of according to claim 7 scan high-frequency resistance welding (HFRW) seam center 3 D detection method based on line-structured light, its
It is characterised by：Relation between the optical strip image pixel coordinate and real world coordinate is by by laser (1) and work
The line structure optical sensor that industry camera (2) is formed is demarcated and obtained.
10. a kind of according to claim 6 scan high-frequency resistance welding (HFRW) seam center 3 D detection method based on line-structured light, its
It is characterised by：The step 1) specifically includes following steps：As welded article part (3) is mobile, continuously adopted using industrial camera (2)
Collect welded article part laser optical strip image, and sequentially input computer (5) and handled, until laser (1) is completed to entirely quilt
Weld the scanning of weld seam on object (3).
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