CN108788550B - Detection device, the control method and device that areola welding bead is detected using detection device - Google Patents
Detection device, the control method and device that areola welding bead is detected using detection device Download PDFInfo
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- CN108788550B CN108788550B CN201810678759.3A CN201810678759A CN108788550B CN 108788550 B CN108788550 B CN 108788550B CN 201810678759 A CN201810678759 A CN 201810678759A CN 108788550 B CN108788550 B CN 108788550B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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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- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the present invention provides detection device, using the control method and device of detection device detection areola welding bead, wherein detection device includes sensor, for detecting areola welding bead, sensor includes shell and the image-forming component being fixed on shell, cross laser light source and homogenous diffused light source；Pose regulating mechanism, connect with shell and welding gun, and pose regulating mechanism is used to adjust the relative position of sensor and welding gun；Wherein, cross laser light source is for issuing the surface that cross laser is incident upon workpiece to be welded；The diffused light that homogenous diffused light source is used to issue brightness uniformity is incident upon the surface of workpiece to be welded；The reflected light of workpiece surface to be welded enters image-forming component imaging.The embodiment of the present invention guarantees welding bead always in the field range of image-forming component, in addition, the embodiment of the present invention is by replacing existing laser array with cross laser light source, it is easier to the position of laser projection central point is judged, to judge to control the relative position at laser projection center and weld seam in turn.
Description
Technical field
The present invention relates to welding automatization technology fields, detect more particularly, to detection device, using detection device thin
The control method and device of gap welding bead.
Background technique
In welding field, intelligent robot welding has become a kind of important trend.Facing parametric curve track
When welding bead, the welding gun itself connecting with robot is adapted to the pose variation of welding bead, and how to be examined in real time by visual manner
Surveying welding bead pose and then carrying out welding bead tracking is still a problem to be solved.Current welding bead vision inspection apparatus often with
Welding gun is affixed, the offset of detection device and welding gun so as to parametric curve track welding bead carry out real-time vision-based detection with
Track has difficulties.
In addition, the welding bead groove of workpiece to be welded is generally the minimum I type pair in gap in some fields (such as space industry)
Groove is connect, and workpiece surface reflectivity to be welded is high, during carrying out vision-based detection to welding bead, strong mirror-reflection is easy
The main feature information for covering areola welding bead causes detection to fail.
The prior art provides a kind of strong mirror-reflection workpiece areola groove detection device and method based on spherical surface light source, should
Laser array and spherical surface light source are alternately lighted projection on the surface of the workpiece by detection device, and different with image-forming component sync pulse jamming
Image when light source igniting, image when being lighted by laser array obtain the position of workpiece surface near laser array subpoint
Appearance, then pass through spherical surface light source igniting when brightness uniformity image obtain welding bead two-dimensional signal, by the two combine with determine weld
The three-dimensional pose in road.In the apparatus, the relative position of welding gun and image-forming component immobilizes, in the real-time detection for carrying out welding bead
When, if welding bead track is parametric curve, laser array may cannot be introduced into imaging in the subpoint or welding bead of workpiece surface
The field range of element causes detection to fail.
In addition, the workpiece surface region where laser array subpoint is considered as the plane where welding bead by this method, into
When the welding bead real-time detection of row parametric curve track, if the view field of laser array on the surface of the workpiece and welding bead position it
Between deviation it is larger, then workpiece surface region where laser array subpoint possibly can not workpiece where accurate representation welding bead
Surface region causes detection error to increase.
Summary of the invention
The present invention provides a kind of detection device for overcoming the above problem or at least being partially solved the above problem, using inspection
Survey the control method and device of device detection areola welding bead.
According to the first aspect of the invention, a kind of detection device of areola welding bead is provided, is connect with welding gun, the detection
Device includes:
Sensor, for detecting areola welding bead, the sensor includes shell and fixed imaging on the housing
Element, cross laser light source and homogenous diffused light source；
Pose regulating mechanism is connect with the shell and welding gun, and the pose regulating mechanism is for adjusting the sensor
With the relative position of the welding gun；
Wherein, the cross laser light source is for issuing the surface that cross laser is incident upon workpiece to be welded；It is described uniformly unrestrained
Penetrate the surface that light source is incident upon workpiece to be welded for issuing the diffused light of brightness uniformity；The reflected light of the workpiece surface to be welded into
Enter image-forming component imaging.
According to the second aspect of the invention, it also provides a kind of using above-mentioned detection device detection device detection areola welding bead
Control method, comprising:
Pixel two-dimensional coordinate system { P } is established on the image of image-forming component acquisition；
Obtain the pose V of pose regulating mechanism in current period1, calculate in current period, pose regulating mechanism is any
When pose V, coordinate x of the central point Q of areola welding bead in { P }Q(V) and two laser planes of cross laser light source
Subpoint L coordinate x in { P } of the intersection J in workpiece surface to be weldedL(V)；
By the coordinate xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance, obtains function of the Y about V
Relationship Y (V)；
The evaluation function is calculated in V1The gradient of point；
The pose for controlling the pose regulating mechanism changes along the negative direction of the gradient, enters at the end of variation next
Period.
According to the third aspect of the present invention, a kind of control dress using above-mentioned detection device detection areola welding bead is also provided
It sets, comprising:
Establishment of coordinate system module, for establishing pixel two-dimensional coordinate system { P } on the image that the image-forming component acquires；
Key point computing module, for obtaining the pose V of pose regulating mechanism in current period1, it calculates in current period,
Pose regulating mechanism is in free-position V, coordinate x of the central point Q of areola welding bead in { P }Q(V) and cross laser
Subpoint L coordinate x in { P } of the two laser plane intersection J of light source in workpiece surface to be weldedL(V)；
Evaluation function module is used for the coordinate xQ(V) and coordinate xL(V) the evaluation function Y constructed in advance is substituted into
In, obtain functional relation Y (V) of the Y about V；
Gradient computing module, for calculating the evaluation function in V1The gradient of point；
Pose Control module, the pose for controlling the pose regulating mechanism change along the negative direction of the gradient, when
Enter next period at the end of variation.
According to the fourth aspect of the present invention, a kind of system detecting areola welding bead, including above-mentioned detection device are also provided
And above-mentioned control device.
According to the fifth aspect of the present invention, a kind of electronic equipment, at least one processor are also provided；And
At least one processor being connect with the processor communication, in which:
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to refer to
Order is able to carry out control method provided by any possible implementation in the various possible implementations of first aspect.
According to the sixth aspect of the invention, a kind of non-transient computer readable storage medium is also provided, it is described non-transient
Computer-readable recording medium storage computer instruction, the computer instruction make the computer execute the various of first aspect
Control method provided by any possible implementation in possible implementation.
Detection device proposed by the present invention, using the control method and device of detection device detection areola welding bead, wherein examining
It surveys device and adds pose regulating mechanism between welding gun and imaging unit, pose adjustment structure is for adjusting imaging unit and welding gun
Between relative position, allow in this way, even if welding bead track is parametric curve, by adjusting the position of imaging unit,
It can guarantee welding bead always in the field range of image-forming component, in addition, the embodiment of the present invention is by with cross laser light source generation
For existing laser array, the position of laser projection central point can be more easily determined, to judge to control laser projection in turn
The relative position at center and weld seam.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to the detection device of the embodiment of the present invention；
Fig. 2 is to be illustrated according to the process of the control method for detecting areola welding bead using detection device of the embodiment of the present invention
Figure；
Fig. 3 is the structural schematic diagram according to the pose regulating mechanism of the embodiment of the present invention；
Fig. 4 is the schematic diagram according to the coordinate system transformation of the embodiment of the present invention；
Fig. 5 is the coordinates computed x according to the embodiment of the present inventionQ(V) and coordinate xL(V) flow diagram；
Fig. 6 is the functional block diagram according to the control device of the embodiment of the present invention；
Fig. 7 is the functional block diagram according to the system of the detection areola welding bead of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram according to the electronic equipment of the embodiment of the present invention；
Fig. 9 is the areola weld seam figure of imaging unit shooting according to detection device in the embodiment of the present invention before pose adjustment
The schematic diagram that picture and cross laser projected image combine；
Figure 10 is the areola weld seam figure of imaging unit shooting according to detection device in the embodiment of the present invention after pose adjustment
The schematic diagram that picture and cross laser projected image combine.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
The detection device of existing areola welding bead is being carried out since the relative position of welding gun and imaging unit immobilizes
When the real-time detection of welding bead, if welding bead track is parametric curve, laser array can in the subpoint or welding bead of workpiece surface
The field range that image-forming component can be cannot be introduced into causes detection to fail.In addition, existing detection device is projected according to laser array
As soon as the point on to workpiece to be welded fits a plane, and assumes weld seam in this plane, but if workpiece surface is complicated
Curved surface, then when the region and welding seam distance that laser array projects to farther out when, plane cannot be where accurate representation weld seam
Face.
In order to overcome the drawbacks described above of the prior art, the inventive concept of the embodiment of the present invention are as follows: in welding gun and imaging unit
Between add pose regulating mechanism, pose adjustment structure is used to adjust the relative position between imaging unit and welding gun, thus makes
, even if welding bead track can also guarantee that welding bead is being imaged always for parametric curve by adjusting the position of imaging unit
In the field range of element, in addition, the embodiment of the present invention is by replacing existing laser array, Neng Gougeng with cross laser light source
The position of laser projection central point is easily determined, to judge to control the relative position at laser projection center and weld seam in turn.
The detection device of the areola welding bead of the embodiment of the present invention, connect with welding gun, and detection device includes:
Sensor, for detecting areola welding bead, sensor includes shell and the image-forming component being fixed on shell, cross
Laser light source and homogenous diffused light source；
Pose regulating mechanism, connect with shell and welding gun, and pose regulating mechanism is used to adjust the opposite of sensor and welding gun
Position；
Wherein, cross laser light source is for issuing the surface that cross laser is incident upon workpiece to be welded；It uses in homogenous diffused light source
The surface of workpiece to be welded is incident upon in the diffused light for issuing brightness uniformity；The reflected light of workpiece surface to be welded enter image-forming component at
Picture.
It should be noted that the embodiment of the present invention passes through position by being exactly pose regulating mechanism between sensor and welding gun
Appearance regulating mechanism adjusts the position of sensor, so that cross laser is in workpiece surface even if welding bead track is parametric curve
Subpoint be also able to enter the field range of image-forming component, while laser array light source, energy are replaced by cross laser light source
More easily determine the position of laser projection central point, enough to judge to control the opposite position at laser projection center and weld seam in turn
It sets.
Fig. 1 shows the structural schematic diagram of the detection device of the embodiment of the present invention, as shown in the figure, comprising: pose adjusts machine
The shell 2 of structure 1, sensor, and be fixed in shell 2 image-forming component 3, filter element 4, cross laser light source 5 and
Even diffused light source 6；One end of pose regulating mechanism 1 is connected by welding gun connector 7 with welding gun 8, the other end of regulating mechanism 1 and
Shell 2 is connected；Welding gun 8 can change spatial pose；Cross laser light source 5 can issue cross laser and be incident upon workpiece 9 to be welded
Surface；The diffused light that homogenous diffused light source 6 can issue brightness uniformity is incident upon the surface of workpiece 9 to be welded；9 surface of workpiece to be welded
Reflected light enters image-forming component 3 after filter element 4 and is imaged.
The detection device provided based on the above embodiment, the embodiment of the present invention also provide a kind of detection method, the detection side
Method is used to realize using the above-mentioned detection device that can adjust relative position between sensor and welding gun to parametric curve welding bead
It is measured in real time.
The detection method of the embodiment of the present invention in order to overcome the drawbacks of the prior art, actually needs to reach two purposes:
1, sensor energy captured in real-time is to weld seam, and 2, laser projection is as close possible to weld seam.Due to pose regulating mechanism freedom degree not
It is confined to 1, therefore when the freedom degree of pose regulating mechanism is multiple, the pose transfer problem of pose regulating mechanism just becomes
The problem of one multiple-objection optimization, but it is more difficult due to reaching above-mentioned two purpose simultaneously, the hair of the embodiment of the present invention
Bright design are as follows: establish and consider the evaluation function of above-mentioned purpose simultaneously, by find out evaluation function about pose regulating mechanism oneself
By the partial derivative spent, that is, the gradient of evaluation function is obtained, by the concept of gradient it is found that the direction of gradient means that rising is most fast,
So moved by control pose regulating mechanism along the opposite direction of gradient, that is, it is most fast to realize evaluation function decline, that is,
Above-mentioned two purpose is reached simultaneously indirectly.And in order to find out local derviation of the evaluation function about the freedom degree of pose regulating mechanism
Number, it is necessary to find out expression formula of the evaluation function about the freedom degree of pose regulating mechanism, therefore, assume to detect in each period
To Weld pipe mill point around workpiece surface can all the plane that detects at present be used to represent, around Weld pipe mill point
One section of weld seam can be replaced with the weld tangent where the central point, derive evaluation function about pose under this hypothesis
The expression formula of the freedom degree of regulating mechanism.
Fig. 2 shows the control methods of the detection device detection areola welding bead using above-described embodiment of the embodiment of the present invention
Flow diagram, as shown in the figure, comprising:
S201, pixel two-dimensional coordinate system { P } is established on the image of image-forming component acquisition.
Specifically, the origin of { P } is established in the upper left corner of image, and x-axis is sat along image longitudinal direction, y-axis along image transverse direction, pixel
The resolution ratio of mark system is HP×WP。
S202, the pose V for obtaining pose regulating mechanism in current period1, calculate in current period, pose regulating mechanism exists
When free-position V, coordinate x of the central point Q of areola welding bead in { P }Q(V) and two laser planes of cross laser light source
Subpoint L coordinate x in { P } of the intersection J in workpiece surface to be weldedL(V)。
It should be noted that due in the embodiment of the present invention pose regulating mechanism be in intermittent modulation condition,
By pose regulating mechanism since terminating primary movement, until being referred to as a cycle during terminating primary movement next time, every
In the calculating process in one period, it is believed that the pose of pose regulating mechanism and detection device are opposite with workpiece to be welded in the period
Position is kept constant.
When being changed due to the pose of pose regulating mechanism, the relative position of sensor and welding gun, workpiece to be welded can be sent out
Changing, therefore, coordinate of the central point of areola welding bead in { P } can change with the pose of pose regulating mechanism, similarly,
Two laser plane intersection J of cross laser light source also can be with position in coordinate of the subpoint L in { P } of workpiece surface to be welded
The pose of appearance regulating mechanism and change.
S203, by coordinate xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance, obtains letter of the Y about V
Number relationship Y (V).
In embodiments of the present invention, determine that detection quality has following factor:
1, central point Q is at a distance from the x-axis coordinate in { P } is between image center, if this is apart from excessive, central point Q
It is easily separated from the field range of image-forming component, therefore the value is the smaller the better.
2, subpoint L is at a distance from the y-axis coordinate in { P } is between image center, if this is apart from excessive, subpoint L
It is easily separated from the field range of program unit, therefore the value is equally the smaller the better.
3, in the x-axis coordinate in { P } at a distance from subpoint L is between the x-axis coordinate in { P }, which reflects central point Q
Distance of the subpoint L away from central point Q on the direction x of { P }, if this is apart from excessive, according to cross laser in workpiece table to be welded
The plane that subpoint on face fits is unable to the face where accurate representation areola welding bead, therefore the value is the smaller the better.
To sum up, the 1st, 2 apart from smaller, and it is higher that detection is less susceptible to failure, reliability, and third is examined apart from smaller
It is higher to survey precision, it would be desirable to while these three distances being made to obtain lesser value, thus establish evaluation function.
S204, Calculation Estimation function are in V1The gradient of point.
Specifically, gradient is asked to Y (V) first, then will acquire and quantifies pose V really1It substitutes into the gradient acquired, that is, obtains
Obtained specific gradient value.
S205, the pose for controlling pose regulating mechanism change along the negative direction of gradient, and next week is entered at the end of variation
Phase.
It should be noted that the embodiment of the present invention is by establishing the coordinate and ten with the central point of areola welding bead in the picture
The relevant evaluation function of coordinate of the corresponding subpoint of word laser light source in the picture, by the gradient of Calculation Estimation function, and
In conjunction with the current pose of pose regulating mechanism, the pose adjustment direction for keeping evaluation function optimal is obtained, even if so that detection device
The case where in face of parametric curve, can also guarantee in the field range that position while welding is maintained at image-forming component.
Content based on the above embodiment, as a kind of alternative embodiment, coordinates computed xQ(V) and coordinate xL(V) before
Further include:
The three-dimensional cartesian coordinate system { W } of welding gun is established, the origin of { W } is a bit on welding gun, establishes the three of image-forming component
It ties up rectangular coordinate system { C }, the origin of { C } is the optical center of image-forming component, the z-axis direction of { C } and the optical axis direction phase of image-forming component
Together.
By calibration, transformational relation of the pose regulating mechanism in any position and posture V between { C } and { W } is determined, and
The intersection J of the equation and two laser planes of transformational relation, two laser planes in { C } between { P } and { C } is at { C }
In equation.
Detection method in order to illustrate the embodiments of the present invention more clearly, by taking the pose regulating mechanism of two freedom degrees as an example
It is illustrated.Fig. 3 shows the structural schematic diagram of the pose regulating mechanism in the embodiment of the present invention, as shown, pose is adjusted
Mechanism includes motor contact 12, first motor 11 and the second motor 13, and first motor 11 and the second motor 13 are respectively arranged with rotation
Encoder, first motor 11 are fixed on welding gun connector 7, and the output shaft of first motor 11 passes through motor contact 12 and second
Motor 13 is connected, and the output shaft of the second motor 13 is connected with shell 2.
Fig. 4 shows the schematic diagram of the coordinate system transformation of the embodiment of the present invention.As shown, the origin of { W } is welding gun
On axis a bit, z-axis is straight line where welding gun axis, and x-axis is parallel with the axis of first motor.The origin of { C } is into pixel
The optical center of part, z-axis are parallel with the optical axis of image-forming component.Establish the first motor three-dimensional right angle for being fixed on the output shaft of first motor
Coordinate system { A1 }, x-axis is parallel with the x-axis of { W }, and y-axis and z-axis turn over the angle α relative to the y-axis and z-axis of { W }；It establishes and is connected
In the second motor three-dimensional cartesian coordinate system { A2 } of the output shaft of the second motor, y-axis is parallel with the y-axis of { A1 }, x-axis and z
Axis turns over the angle β relative to the x-axis and z-axis of { A1 }；The pose of pose regulating mechanism is expressed as V=[α β]T。
When the pose of pose regulating mechanism is V=[α β]TWhen, the coordinate of the central point Q of areola welding bead is x in { P }Q(α,β)
=(xQ(α,β),yQ(α, β)), it takes in { P } and meets on areola welding beadA little be used as Q point, cross laser
Two laser plane intersection J of light source are x in the coordinate of the surface projection point L of workpiece to be weldedL(α, β)=(xL(α,β),yL(α,
β)).Correspondingly, evaluation function indicates are as follows:
And P point and L point are both needed to fall in image-forming component within sweep of the eye, that is, need to meet:
0<xQ(α,β),xL(α,β)<HP
0<yQ(α,β),yL(α,β)<WP
Work as V=V0=[0 0]TWhen, the position orientation relation between each coordinate system is demarcated, and then determine that pose adjusts machine
The position and posture of structure 3 is any V=[α β]TWhen, the homogeneous transform matrix of { C } to { A2 } are{ A2 } arrives the homogeneous change of { A1 }
Changing matrix isThe homogeneous transform matrix of { A1 } to { W } isThen the position and posture of pose regulating mechanism is to appoint
It anticipates V=[α β]TWhen { C } arrive { W } homogeneous coordinate transformation matrix are as follows:
Image-forming component is demarcated, the point x=[x, y] in { P } is obtainedTWith the point X in { C }C=[XC,YC,ZC]TBetween
Transformational relation:
[XC/ZC,YC/ZC]T=[f1(x),f2(x)]T
The equation for demarcating two optical planes of cross laser in image-forming component coordinate system { C } again, by two of cross laser
The equations simultaneousness of optical plane solves the equation of two laser plane intersection J of cross laser in { C }.
As shown in the above, position of the transformational relation in the embodiment of the present invention between { C } and { W } by pose regulating mechanism
Appearance state V influences, and the transformational relation between { P } and { C } is only related with the property of camera itself, unrelated with position and posture.
Content based on the above embodiment, as a kind of alternative embodiment, coordinates computed xQ(V) and coordinate xL(V) specific
As shown in Figure 5, comprising:
S501, determine pose adjustment structure in the pose V of current period1。
S502, it lights cross laser light source while extinguishing homogenous diffused light source, in conjunction with side of two laser planes in { C }
Transformational relation between journey and { P } and { C }, (also referred to as cross swashs the image projected to the cross laser of imaging unit acquisition
Light projected image) it is coordinately transformed and is fitted, calculate pose V1When workpiece surface to be welded equation of the plane M in { C }.
It should be noted that { C } is three-dimensional system of coordinate, therefore according to the coordinate in { C } since { P } is two-dimensional coordinate system
The coordinate in { P } can be uniquely determined, and the coordinate of the point in { C } can not be uniquely determined according to the coordinate at the midpoint { P }, therefore
The coordinate in { C } must can be just uniquely determined in conjunction with other information (such as the point is fallen in some known plane in { C }),
It can be carried out plane fitting.
S503, extinguish cross laser light source while lighting homogenous diffused light source, in conjunction with the transformational relation between { P } and { C }
And current pose V1When equation of the plane M in { C }, it is assumed that the point Q and the straight line S where areola welding bead fall in plane M
On, the image (also referred to as areola weld image) of the areola welding bead of imaging unit acquisition is coordinately transformed and is fitted, is calculated
Pose V1When central point Q in the equation of coordinate and straight line S in { C } in { C }.
S504, pose V is calculated1When { C } arrive the transformational relation of { W }, and then the side of Calculation Plane M and straight line S in { W }
Journey, { W } arrives the transformational relation of { C }, the side of plane M and straight line S in { C } when determining free-position V when in conjunction with free-position V
Journey.
Plane when equation and free-position V in { C } of transformational relation, intersection J between S505, basis { P } and { C }
Equation of the M in { C }, determines coordinate xL(V)；Existed according to straight line S when transformational relation and free-position V between { P } and { C }
Equation in { C } determines coordinate xQ(V)。
It should be noted that coordinates computed of embodiment of the present invention xQ(V) and coordinate xL(V) method, first calculating pose
V1When plane M in the equation of equation and straight line S in { C } in { C }, then pass through coordinate system conversion obtain pose V1When plane M
In the equation of equation and straight line S in { W } in { W }, that is, determine pose V1When plane M and straight line S under the coordinate system of welding gun
Equation, when further according to free-position V { W } arrive { C } transformational relation, obtain pose regulating mechanism in free-position lower plane M
With equation of the straight line S under the coordinate system of image-forming component, finally, when according to equation and free-position V of the intersection J in { C }
Equation of the plane M in { C } can be obtained the subpoint of the intersection J and plane M coordinate in { C }, according to the conversion of { P } and { C }
The three-dimensional coordinate of subpoint is transferred in image by relationship, obtains the two-dimensional coordinate of subpoint, i.e. coordinate xL(V)；According to straight line
Equation of the S in { C } is converted into two-dimensional coordinate system { P }, then take with the intersection point of center line parallel with y-axis in image,
Obtain coordinate xQ(V)。
Content based on the above embodiment additionally provides a kind of control welding gun with preferably as a kind of alternative embodiment
The method for tracking areola welding bead, specifically:
Calculating pose V1When { C } to { W } transformational relation after, according to pose V1When { C } arrive { W } transformational relation, with
And pose V1Coordinate of the Shi Suoshu central point Q in { C } determines coordinate of the welding bead central point Q in { W }；
Control Coordinate Adjusting position of the welding gun according to central point Q in { W }.
Specifically, by taking the corresponding detection device of Fig. 3 as an example, pose shape at this time is known by the encoder of pose regulating mechanism
State V1=[α1β1]T, the homogeneous coordinate transformation matrix that { C } arrives { W } is obtained under the poseIn conjunction with Q point at { C }
In coordinate XC,Q, calculate coordinate X of the Q point in { W }W,Q, welding gun 2 is according to XW,QPosition is adjusted to track areola welding bead.
The coordinate of Butt welding gun of the embodiment of the present invention is adjusted, and provides support to the precision for improving welding.
Content based on the above embodiment calculates pose V as a kind of alternative embodiment1When workpiece surface to be welded it is flat
Equation of the face M in { C }, specifically:
Obtain coordinate x of two laser planes in the subpoint on workpiece surface to be welded in { P }1iAnd x2j；Wherein, i=
1,2,…,k1, j=1,2 ..., k2, k1And k2It respectively indicates from two laser planes on the projection line on workpiece surface to be welded
The number of the point taken, k1>=2, k2≥2；
According to the equation of the transformational relation and two laser planes of { P } to { C } in { C }, coordinates computed x1iAnd x2j?
The coordinate X of corresponding points in { C }C,1iAnd XC,2j；
Using the cross laser projection region on workpiece surface to be welded as plane M, pass through XC,1iAnd XC,2jFit position
Appearance V1When equation of the plane M in { C }.
Content based on the above embodiment calculates pose V as a kind of alternative embodiment1When central point Q in { C }
Equation of the straight line S in { C } where coordinate and areola welding bead, specifically:
From extracting coordinate x of the central point Q in { P } in the image of areola welding beadQ, the transformational relation of { C } is arrived in conjunction with { P }
And pose V1When equation of the plane M in { C }, it is assumed that Q is fallen on plane M, obtains pose V1When seat of the central point Q in { C }
Mark；
Using the areola welding bead of preset length near central point Q as straight line S, equation of the straight line S in { P } is fitted, is tied
Close transformational relation and pose V that { P } arrives { C }1When equation of the plane M in { C }, it is assumed that S is fallen on plane M, obtains pose V1
When equation of the straight line S in { C }.
Content based on the above embodiment calculates pose V as a kind of alternative embodiment1When { C } to { W } conversion close
System, { W } arrives the transformational relation of { C }, the side of plane M and straight line S in { C } when determining free-position V when in conjunction with free-position V
Journey, specifically:
According to the transformational relation between { C } and { W } when free-position V, pose V is calculated1When { C } arrive { W } transformational relation；
According to pose V1When in equation, pose V of the plane M in { C }1When equation and pose V of the straight line S in { C }1
When { C } arrive { W } transformational relation, Calculation Plane M is in the equation of equation and straight line S in { W } in { W }；
Existed according to the equation and straight line S of the transformational relation and plane M of { W } when free-position V to { C } in { W }
Equation in { W }, when determining free-position V, plane M is in the equation of equation and straight line S in { C } in { C }.
By taking the corresponding detection device of Fig. 3 as an example, become according to the homogeneous coordinates of equation of the plane M in { C } and { C } to { W }
Change matrixEquation of the Calculation Plane M in { W }；The neat of { W } is arrived according to equation of the straight line S in { C } and { C }
Secondary transformation matrix of coordinatesCalculate equation of the straight line S in { W }.The homogeneous coordinate transformation matrix of { W } to { C } is
{ C } arrives the homogeneous coordinate transformation inverse of a matrix matrix of { W }, i.e., In conjunction with plane M in { W }
Equation calculation free-position V=[α β]TEquation of the lower plane M in { C }, it is any in conjunction with equation calculation of the straight line S in { W }
Pose V=[α β]TEquation of the lower straight line S in { C }.
Content based on the above embodiment, as a kind of alternative embodiment, according to the transformational relation between { P } and { C }, friendship
The line J equation of plane M in { C } in the equation and free-position V in { C }, determines coordinate xL(V)；According to { P } and { C }
Between transformational relation and free-position V when equation of the straight line S in { C }, determine coordinate xQ(V), specifically:
According to intersection J in the equation and free-position V in { C } equation of the plane M in { C }, calculate free-position V
When coordinate of the subpoint L in { C }；
Coordinate of the V subpoint L in { C }, determines coordinate x when arriving the transformational relation and free-position of { P } according to { C }L
(V)；
The transformational relation of { P } is arrived according to equation of straight line S when free-position V in { C }, and { C }, calculates free-position
Equation of the straight line S in { P } when V；
According to the center line of equation and image of straight line S when free-position V in { P }, coordinate x is determinedQ(V)。
Specifically, in simultaneous { C } two laser plane intersection J of cross laser equation and free-position V=[α β]T
Equation of the lower plane M in { C } obtains free-position V=[α β]TTwo laser plane intersection J of lower cross laser are in plane M
On coordinate X of the subpoint L in { C }C,L(α,β)；
The transformational relation and free-position V=[α β] of simultaneous { P } and { C }TEquation of the lower straight line S in { C } calculates and appoints
It anticipates pose V=[α β]TEquation of the lower straight line S in { P }, then willEquation of the straight line S in { P } is substituted into,
Obtain free-position V=[α β]TUnder central point Q in { P } coordinate xQ(α, β)=[xQ(α,β),yQ]T；
The transformational relation and free-position V=[α β] of simultaneous { P } and { C }TThrowing of the lower cross laser center on plane M
Coordinate X of the shadow point L in { C }C,L(α, β) is calculated free-position V=[α β]TTwo laser plane intersection J of lower cross laser
In coordinate x of the subpoint L on plane M in { P }L(α,β)；
By xQ(α, β)=[xQ(α,β),yQ]TAnd xL(α, β)=[xL(α,β),yL(α,β)]TExpression formula substitute into 2) in build
The expression formula of vertical evaluation function Y Obtain Y=g
(α, β) seeks its gradientController 1 drives the pose V=of pose regulating mechanism 3 at this time
[α1β1]TAlongDirection change.
According to another aspect of the present invention, the embodiment of the present invention also provides a kind of detection device using above-described embodiment
The control device for detecting areola welding bead, the functional block diagram of the control device of the embodiment of the present invention is shown referring to Fig. 6, Fig. 6, the control
Device processed detects areola welding bead for controlling the detection device of above-described embodiment in foregoing embodiments.Therefore, aforementioned each
The description and definition in control method in embodiment, can be used for the understanding of each execution module in the embodiment of the present invention.
As shown, the control device includes:
Establishment of coordinate system module 601, for establishing pixel two-dimensional coordinate system { P } on the image that image-forming component acquires；
Key point computing module 602, for obtaining the pose V of pose regulating mechanism in current period1, calculate current period
Interior, pose regulating mechanism is in free-position V, coordinate x of the central point Q of areola welding bead in { P }Q(V) and cross laser
Subpoint L coordinate x in { P } of the two laser plane intersection J of light source in workpiece surface to be weldedL(V)；
Evaluation function module 603 is used for coordinate xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance,
Obtain functional relation Y (V) of the Y about V；
Gradient computing module 604, for Calculation Estimation function in V1The gradient of point；
Pose Control module 605, the pose for controlling pose regulating mechanism changes along the negative direction of gradient, when variation is tied
Enter next period when beam.
Fig. 7 shows the functional block diagram of the system of the detection areola welding bead of the embodiment of the present invention, as shown in fig. 7, the system
It include: detection device 701 and control device 702.Wherein detection device 701, function are implemented referring in particular to above-mentioned control device
Example, control device 702, function is referring in particular to above-mentioned control device embodiment, and details are not described herein again.
Fig. 8 shows the structural schematic diagram of the electronic equipment of the embodiment of the present invention, as shown in figure 8, processor
(processor) 801, memory (memory) 802 and bus 803；
Wherein, processor 801 and memory 802 complete mutual communication by bus 803 respectively；Processor 801 is used
In calling the program instruction in memory 802, to execute control method provided by above-described embodiment, for example, be imaged
Pixel two-dimensional coordinate system { P } is established on the image of element acquisition；Obtain the pose V of pose regulating mechanism in current period1, calculate
In current period, pose regulating mechanism is in free-position V, coordinate x of the central point Q of areola welding bead in { P }Q(V) and
Subpoint L coordinate x in { P } of the two laser plane intersection J of cross laser light source in workpiece surface to be weldedL(V)；It will sit
Mark xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance, obtains functional relation Y (V) of the Y about V；Calculating is commented
Valence function is in V1The gradient of point；The pose for controlling pose regulating mechanism changes along the negative direction of gradient, enters at the end of variation
Next period.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
Matter stores computer instruction, which makes computer execute control method provided by above-described embodiment, for example,
Pixel two-dimensional coordinate system { P } is established on the image of image-forming component acquisition；Obtain the pose of pose regulating mechanism in current period
V1, calculate in current period, pose regulating mechanism is in free-position V, coordinate x of the central point Q of areola welding bead in { P }Q
(V) and two laser plane intersection J of cross laser light source workpiece surface to be welded coordinate x of the subpoint L in { P }L
(V)；By coordinate xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance, obtains functional relation Y of the Y about V
(V)；Calculation Estimation function is in V1The gradient of point；The pose for controlling pose regulating mechanism changes along the negative direction of gradient, works as variation
At the end of enter next period.
Fig. 9 is the areola weld seam figure of imaging unit shooting according to detection device in the embodiment of the present invention before pose adjustment
The schematic diagram that picture and cross laser projected image combine, wherein a is areola weld seam, and b is cross laser projection, x in figureQPlace
Line is areola weld seam, xLThe two lines at place are that two laser planes of cross laser light source are shown in the knot on workpiece to be welded
Fruit；
Figure 10 is the areola weld seam figure of imaging unit shooting according to detection device in the embodiment of the present invention after pose adjustment
The schematic diagram that picture and cross laser projected image combine, wherein a is areola weld seam, and b is cross laser projection, x in figureQPlace
Line is areola weld seam, xLThe line at place is that two laser planes of cross laser light source are shown in the result on workpiece to be welded；It is logical
Comparison diagram 9 and Figure 10 are crossed it is found that x in Figure 10QAnd xLDistance it is closer, it is meant that be imaged in the detection device that pose is adjusted single
Member is more directed at areola weld seam.
The apparatus embodiments described above are merely exemplary, wherein unit can be as illustrated by the separation member
Or may not be and be physically separated, component shown as a unit may or may not be physical unit, i.e.,
It can be located in one place, or may be distributed over multiple network units.It can select according to the actual needs therein
Some or all of the modules achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case where dynamic, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
The method of certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of control method of detection device detection areola welding bead, the detection device are connect with welding gun, the detection device
Including sensor, for detecting areola welding bead, the sensor include shell and fixed image-forming component on the housing,
Cross laser light source and homogenous diffused light source；Pose regulating mechanism is connect with the shell and welding gun, the pose regulating mechanism
For adjusting the relative position of the sensor Yu the welding gun；Wherein, the cross laser light source is for issuing cross laser
It is incident upon the surface of workpiece to be welded；The diffused light that the homogenous diffused light source is used to issue brightness uniformity is incident upon workpiece to be welded
Surface；The reflected light of the workpiece surface to be welded enters image-forming component imaging, which is characterized in that the control method includes:
Pixel two-dimensional coordinate system { P } is established on the image of image-forming component acquisition；
Obtain the pose V of pose regulating mechanism in current period1, calculate in current period, pose regulating mechanism is in free-position V
When, coordinate x of the central point Q of areola welding bead in { P }Q(V) and two laser plane intersection J of cross laser light source
In coordinate x of the subpoint L in { P } of workpiece surface to be weldedL(V)；
By the coordinate xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance, obtains functional relation of the Y about V
Y(V)；
The evaluation function is calculated in V1The gradient of point；
The pose for controlling the pose regulating mechanism changes along the negative direction of the gradient, and next week is entered at the end of variation
Phase.
2. control method according to claim 1, which is characterized in that coordinates computed xQ(V) and coordinate xL(V) before also
Include:
The three-dimensional cartesian coordinate system { W } of the welding gun is established, the origin of { W } is a bit on welding gun, establishes the image-forming component
Three-dimensional cartesian coordinate system { C }, the origin of { C } is the optical center of the image-forming component, the z-axis direction of { C } and the image-forming component
Optical axis direction it is identical；
By calibration, transformational relation of the pose regulating mechanism in any position and posture V between { C } and { W } is determined, and
The intersection J of the equation and two laser planes of transformational relation, two laser planes in { C } between { P } and { C } is at { C }
In equation.
3. control method according to claim 2, which is characterized in that coordinates computed xQ(V) and coordinate xL(V), specifically
Are as follows:
Determine the pose adjustment structure in the pose V of current period1；
Light cross laser light source while extinguishing homogenous diffused light source, in conjunction with equation of described two laser planes in { C } with
And the transformational relation between { P } and { C }, to the imaging unit acquisition cross laser projection image be coordinately transformed and
Fitting calculates pose V1When workpiece surface to be welded equation of the plane M in { C }；
Extinguish cross laser light source and light homogenous diffused light source simultaneously, in conjunction with the transformational relation and present bit between { P } and { C }
Appearance V1When equation of the plane M in { C }, it is assumed that the point Q and the straight line S where areola welding bead are fallen on plane M, to it is described at
As the image of areola welding bead that unit acquires is coordinately transformed and is fitted, pose V is calculated1Shi Suoshu central point Q is in { C }
The equation of coordinate and straight line S in { C }；
Calculate pose V1When { C } arrive the transformational relation of { W }, and then the equation of Calculation Plane M and straight line S in { W }, in conjunction with appointing
{ W } arrives the transformational relation of { C }, the equation of plane M and straight line S in { C } when determining free-position V when meaning pose V；
According between { P } and { C } transformational relation, equation and free-position V of the intersection J in { C } when plane M exist
Equation in { C } determines the coordinate xL(V)；According to straight line S when transformational relation and free-position V between { P } and { C }
Equation in { C } determines the coordinate xQ(V)。
4. control method according to claim 3, which is characterized in that transformational relation between the basis { P } and { C },
The intersection J equation of plane M in { C } in the equation and free-position V in { C }, determines the coordinate xL(V)；Root
According to equation of straight line S when transformational relation and free-position V between { P } and { C } in { C }, the coordinate x is determinedQ(V),
Specifically:
According to the intersection J in the equation and free-position V in { C } equation of the plane M in { C }, calculate free-position V
Coordinate of the Shi Suoshu subpoint L in { C }；
Coordinate of the subpoint L in { C } described in V, determines the seat when arriving the transformational relation and free-position of { P } according to { C }
Mark xL(V)；
The transformational relation of { P } is arrived according to equation of straight line S when free-position V in { C }, and { C }, when calculating free-position V
Equation of the straight line S in { P }；
According to the center line of equation and image of straight line S when free-position V in { P }, the coordinate x is determinedQ(V)。
5. control method according to claim 3, which is characterized in that the calculating pose V1When { C } to { W } conversion close
System, later further include:
According to pose V1When { C } arrive { W } transformational relation and pose V1Coordinate of the Shi Suoshu central point Q in { C }, determines institute
State coordinate of the welding bead central point Q in { W }；
Control Coordinate Adjusting position of the welding gun according to the central point Q in { W }.
6. a kind of control device of detection device detection areola welding bead, the detection device are connect with welding gun, the detection device
Including sensor, for detecting areola welding bead, the sensor include shell and fixed image-forming component on the housing,
Cross laser light source and homogenous diffused light source；Pose regulating mechanism is connect with the shell and welding gun, the pose regulating mechanism
For adjusting the relative position of the sensor Yu the welding gun；Wherein, the cross laser light source is for issuing cross laser
It is incident upon the surface of workpiece to be welded；The diffused light that the homogenous diffused light source is used to issue brightness uniformity is incident upon workpiece to be welded
Surface；The reflected light of the workpiece surface to be welded enters image-forming component imaging, which is characterized in that the control device includes:
Establishment of coordinate system module, for establishing pixel two-dimensional coordinate system { P } on the image that the image-forming component acquires；
Key point computing module, for obtaining the pose V of pose regulating mechanism in current period1, calculate in current period, pose
Regulating mechanism is in free-position V, coordinate x of the central point Q of areola welding bead in { P }Q(V) and cross laser light source
Two laser plane intersection J workpiece surface to be welded coordinate x of the subpoint L in { P }L(V)；
Evaluation function module is used for the coordinate xQ(V) and coordinate xL(V) it substitutes into the evaluation function Y constructed in advance, obtains
Obtain functional relation Y (V) of the Y about V；
Gradient computing module, for calculating the evaluation function in V1The gradient of point；
Pose Control module, the pose for controlling the pose regulating mechanism change along the negative direction of the gradient, work as variation
At the end of enter next period.
7. a kind of system for detecting areola welding bead, which is characterized in that including detection device as claimed in claim 6 and control dress
It sets.
8. a kind of electronic equipment characterized by comprising
At least one processor；And
At least one processor being connect with the processor communication, in which:
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough control methods executed as described in claim 1 to 5 any one.
9. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute control method as claimed in claim 1 to 5.
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| CN111254066B (en) * | 2018-12-03 | 2023-05-05 | 长春长光华大智造测序设备有限公司 | Imaging adjusting device and high-throughput gene sequencer |
| CN109751987A (en) * | 2019-01-24 | 2019-05-14 | 江苏理工学院 | A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism |
| CN110497121A (en) * | 2019-08-05 | 2019-11-26 | 苏州热工研究院有限公司 | The image processing mode of welding bead center tracking in a kind of welding process |
| WO2021177435A1 (en) * | 2020-03-05 | 2021-09-10 | パナソニックＩｐマネジメント株式会社 | Bead external appearance inspection device, bead external appearance inspection method, program, and bead external appearance inspection system |
| CN112935675B (en) * | 2021-03-15 | 2023-04-25 | 成都焊研威达科技股份有限公司 | Special spot welding machine for angle steel camber molding of web angle steel assembly |
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