CN108555485A - A kind of cylinder for liquefied gas welding visual tracking method - Google Patents
A kind of cylinder for liquefied gas welding visual tracking method Download PDFInfo
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- CN108555485A CN108555485A CN201810370755.9A CN201810370755A CN108555485A CN 108555485 A CN108555485 A CN 108555485A CN 201810370755 A CN201810370755 A CN 201810370755A CN 108555485 A CN108555485 A CN 108555485A
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- 238000003466 welding Methods 0.000 title claims abstract description 35
- 230000000007 visual effect Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012360 testing method Methods 0.000 claims abstract description 10
- 238000003672 processing method Methods 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000035772 mutation Effects 0.000 abstract description 5
- 230000001154 acute effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
Of the invention and a kind of Visual Tracking System, and in particular to a kind of cylinder for liquefied gas welding visual tracking method,（1）Obtain certified products welded pattern；（2）Establish certified products welded pattern key point；（3）The pad monitored is handled using certified products welded pattern key point as the test data of object processing method, determines weld locations, forms visual focus data；（4）By the consecutive variations of pad, vision tracking data is formed；（5）Welding using vision tracking data as control signal for virtual vision acts variation.A kind of cylinder for liquefied gas of the present invention welds visual tracking method, it can be used not only for the detection of the various curves such as arc, obtuse angle mutation and acute angle mutation, and it can detect the angle of the height distribution and ring-shaped light spot of weldment near weld seam relative to welding plane, it can be used for three-dimensional welding, system design is simple, it is highly practical, it is at low cost.
Description
Technical field
A kind of of the invention and a kind of Visual Tracking System, and in particular to cylinder for liquefied gas welding visual tracking method.
Background technology
Currently known laser vision tracking welding system mainly has two kinds of sides of laser " straight line " and spot scan tracking system
Method.This tracking system projects a branch of straight line hot spot by the laser head of sensor, and this hot spot goes out in weld seam is presented discontinuous figure
Case, discontinuity point are exactly position while welding, due to it is this " straight line " and image can not reflect the mutation of weld seam, so this tracking is
System is only applicable to Welded Joint Curve and changes smaller special case.
Invention content
The main problem that the application solves is to provide a kind of cylinder for liquefied gas welding visual tracking method, can not be real with solution
Existing technical problem.
In order to solve the above-mentioned technical problem, the technical scheme is that：
A kind of cylinder for liquefied gas welding visual tracking method, including following procedure：
（1）Obtain certified products welded pattern；
（2）Establish certified products welded pattern key point；
（3）The pad monitored is handled using certified products welded pattern key point as the test data of object processing method,
It determines weld locations, forms visual focus data；
（4）By the consecutive variations of pad, vision tracking data is formed；
（5）Welding using vision tracking data as control signal for virtual vision acts variation.
Further, the acquisition certified products welded pattern includes：Obtain certified products welded pattern profile；It is special according to welding
Sign point cuts out the image of pad.
Further, the certified products welded pattern key point of establishing includes：It is established in the way of semi-artificial or is automatic
Weld point object；Certified products welded pattern key point is formed in the way of semi-artificial or is automatic.
It is described to handle pad using certified products welded pattern key point as the test data of object processing method, it determines
Weld locations, forming visual focus data includes：The pixel data of certified products welded pattern is imported into ERT algorithms as training
Data are handled；The handling result of ERT algorithms is corrected using determining certified products welded pattern key point as test data；Root
The exact outline of pad and accurate relative position relation are formed according to modified handling result.
The consecutive variations by pad, forming vision tracking data includes：In the welding dot pattern obtained in real time,
Changed to form vision tracking data according to the relative position of pad；In the welding dot pattern obtained in real time, according to pad
The relative position of corresponding key point change to form vision tracking data.
Further, the welding action variation packet using vision tracking data as control signal for virtual vision
It includes：The mapping of pad key point in the key point for establishing pad, with welding threedimensional model or two dimensional model is formed virtual
Visual focus；The movement of the key point of the pad in welding threedimensional model or two dimensional model is controlled using vision tracking data,
Form the variation of virtual vision.
A kind of cylinder for liquefied gas of the present invention welds visual tracking method, can be used not only for arc, obtuse angle mutation
And the detection of the various curves such as acute angle mutation, and can detect that the height distribution of weldment near weld seam and ring-shaped light spot are opposite
In the angle of welding plane, it can be used for three-dimensional welding, system design is simple, highly practical, at low cost.
Specific implementation mode
The application is described in detail below with reference to specific implementation mode.But these embodiments are not intended to limit this Shen
Please, those skilled in the art are made according to these embodiments structure, method or transformation functionally include
Within the scope of protection of this application.
A kind of cylinder for liquefied gas welding visual tracking method, including following procedure：
（1）Obtain certified products welded pattern；
（2）Establish certified products welded pattern key point；
（3）The pad monitored is handled using certified products welded pattern key point as the test data of object processing method,
It determines weld locations, forms visual focus data；
（4）By the consecutive variations of pad, vision tracking data is formed；
（5）Welding using vision tracking data as control signal for virtual vision acts variation.
Further specific each step process is：
The acquisition certified products welded pattern includes：Obtain certified products welded pattern profile；Weldering is cut out according to weld signature point
The image of contact.
The certified products welded pattern key point of establishing includes：Pad pair is established in the way of semi-artificial or is automatic
As；Certified products welded pattern key point is formed in the way of semi-artificial or is automatic.
It is described to handle pad using certified products welded pattern key point as the test data of object processing method, it determines
Weld locations, forming visual focus data includes：The pixel data of certified products welded pattern is imported into ERT algorithms as training
Data are handled；The handling result of ERT algorithms is corrected using determining certified products welded pattern key point as test data；Root
The exact outline of pad and accurate relative position relation are formed according to modified handling result.
The consecutive variations by pad, forming vision tracking data includes：In the welding dot pattern obtained in real time,
Changed to form vision tracking data according to the relative position of pad；In the welding dot pattern obtained in real time, according to pad
The relative position of corresponding key point change to form vision tracking data.
The welding action that virtual vision is used for using vision tracking data as control signal, which changes, includes：Establish welding
The mapping of pad key point in the key point of point, with welding threedimensional model or two dimensional model forms virtual vision focus；Profit
The movement of the key point of the pad in welding threedimensional model or two dimensional model is controlled with vision tracking data, forms virtual vision
Variation.
Several preferred embodiments of the application have shown and described in above description, but as previously described, it should be understood that the application
Be not limited to form disclosed herein, be not to be taken as excluding other embodiments, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in application contemplated scope described herein
It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen
It please be in the protection domain of appended claims.
Claims (6)
1. a kind of cylinder for liquefied gas welds visual tracking method, which is characterized in that including following procedure：
（1）Obtain certified products welded pattern；
（2）Establish certified products welded pattern key point；
（3）The pad monitored is handled using certified products welded pattern key point as the test data of object processing method,
It determines weld locations, forms visual focus data；
（4）By the consecutive variations of pad, vision tracking data is formed；
（5）Welding using vision tracking data as control signal for virtual vision acts variation.
2. a kind of cylinder for liquefied gas according to claim 1 welds visual tracking method, which is characterized in that the acquisition is closed
Lattice product welded pattern includes：Obtain certified products welded pattern profile；The image of pad is cut out according to weld signature point.
3. a kind of cylinder for liquefied gas according to claim 1 welds visual tracking method, which is characterized in that the foundation is closed
Lattice product welded pattern key point includes：Welding point object is established in the way of semi-artificial or is automatic；Using semi-artificial or automatic
Mode form certified products welded pattern key point.
4. a kind of cylinder for liquefied gas according to claim 1 welds visual tracking method, which is characterized in that described to utilize conjunction
Lattice product welded pattern key point handles pad as the test data of object processing method, determines that weld locations, formation regard
Feel that focus data includes：The pixel data of certified products welded pattern is imported ERT algorithms to handle as training data；It will be true
Fixed certified products welded pattern key point corrects the handling result of ERT algorithms as test data；According to modified handling result
Form the exact outline of pad and accurate relative position relation.
5. a kind of cylinder for liquefied gas according to claim 1 welds visual tracking method, which is characterized in that described to weld
The consecutive variations of point, forming vision tracking data includes：In the welding dot pattern obtained in real time, according to the opposite position of pad
It sets variation and forms vision tracking data；In the welding dot pattern obtained in real time, according to the opposite of the corresponding key point of pad
Change in location forms vision tracking data.
6. a kind of cylinder for liquefied gas according to claim 1 welds visual tracking method, which is characterized in that described by vision
Tracking data changes as control signal for the welding action of virtual vision：The key point for establishing pad, with welding
The mapping of pad key point in threedimensional model or two dimensional model forms virtual vision focus；Utilize vision tracking data control
The movement of the key point of system welding threedimensional model or the pad in two dimensional model, forms the variation of virtual vision.
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| CN201810370755.9A CN108555485A (en) | 2018-04-24 | 2018-04-24 | A kind of cylinder for liquefied gas welding visual tracking method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810370755.9A CN108555485A (en) | 2018-04-24 | 2018-04-24 | A kind of cylinder for liquefied gas welding visual tracking method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR930012175A (en) * | 1991-12-11 | 1993-07-20 | 천성순 | Weld line visual tracking and arc data monitoring system |
| CN104384765A (en) * | 2014-10-14 | 2015-03-04 | 江苏湃锐自动化科技有限公司 | Automatic welding method based on three-dimensional model and machine vision and welding device based on three-dimensional model and machine vision |
| CN104874946A (en) * | 2015-04-30 | 2015-09-02 | 芜湖林一电子科技有限公司 | Robot vision weld joint tracking system |
| CN106216816A (en) * | 2016-09-28 | 2016-12-14 | 无锡奇能焊接系统有限公司 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
| CN106845425A (en) * | 2017-01-25 | 2017-06-13 | 迈吉客科技（北京）有限公司 | A kind of visual tracking method and tracks of device |
-
2018
- 2018-04-24 CN CN201810370755.9A patent/CN108555485A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR930012175A (en) * | 1991-12-11 | 1993-07-20 | 천성순 | Weld line visual tracking and arc data monitoring system |
| CN104384765A (en) * | 2014-10-14 | 2015-03-04 | 江苏湃锐自动化科技有限公司 | Automatic welding method based on three-dimensional model and machine vision and welding device based on three-dimensional model and machine vision |
| CN104874946A (en) * | 2015-04-30 | 2015-09-02 | 芜湖林一电子科技有限公司 | Robot vision weld joint tracking system |
| CN106216816A (en) * | 2016-09-28 | 2016-12-14 | 无锡奇能焊接系统有限公司 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
| CN106845425A (en) * | 2017-01-25 | 2017-06-13 | 迈吉客科技（北京）有限公司 | A kind of visual tracking method and tracks of device |
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