CN109014725B - Method and device for positioning pipe hole of workpiece and computer storage medium - Google Patents
Method and device for positioning pipe hole of workpiece and computer storage medium Download PDFInfo
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- CN109014725B CN109014725B CN201810987167.XA CN201810987167A CN109014725B CN 109014725 B CN109014725 B CN 109014725B CN 201810987167 A CN201810987167 A CN 201810987167A CN 109014725 B CN109014725 B CN 109014725B
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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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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Abstract
A method, apparatus and computer storage medium for locating pipe holes in a workpiece, the method comprising: setting a precision calibration scheme for the workpiece according to pipe hole area information of the workpiece, wherein the pipe hole area information comprises the pipe hole area of the workpiece and the position of a pipe hole in the workpiece; determining the position of a plane where a pipe hole surface of the workpiece is located; determining an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme and the position of the plane of the pipe hole surface of the workpiece, and acquiring the image information of the pipe hole on the workpiece at the image acquisition position; and processing the acquired image information of the pipe hole on the workpiece to determine the specific position of the pipe hole. By adopting the scheme, the accuracy and the efficiency of positioning the assembly position of the workpiece can be improved.
Description
Technical Field
The invention relates to the field of welding, in particular to a method and a device for positioning a pipe hole of a workpiece and a computer storage medium.
Background
Today, with the rapid development of economy, automation technology has been applied to various industries, including product assembly, part detection and positioning, dimension measurement, and the like. In the field of automation, stacking assembly and screw hole assembly by using a machine system are very important fields, and accurate positioning of a workpiece assembly position, namely a workpiece pipe hole position, is a basis for realizing high-quality assembly.
In the prior art, the following scheme is generally adopted for positioning the assembly position of the workpiece: 1) manually using a welding gun, aligning the hole position by human eyes, holding the welding gun by hand, moving to a position to be welded, and then starting welding assembly; 2) and measuring by adopting laser stripe information, acquiring the position information of the central point of the workpiece, and then carrying out welding assembly work.
However, when the prior art positions the assembly position of the workpiece, the above solutions all have the problem of low positioning efficiency.
Disclosure of Invention
The invention solves the problems of poor precision and low efficiency of positioning the assembly position of the workpiece.
To solve the above technical problem, an embodiment of the present invention provides a method for positioning a pipe hole of a workpiece, including: setting a precision calibration scheme for the workpiece according to pipe hole area information of the workpiece, wherein the pipe hole area information comprises the pipe hole area of the workpiece and the position of a pipe hole in the workpiece; determining the position of a plane where a pipe hole surface of the workpiece is located; determining an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme and the position of the plane of the pipe hole surface of the workpiece, and acquiring the image information of the pipe hole on the workpiece at the image acquisition position; and processing the acquired image information of the pipe hole on the workpiece to determine the specific position of the pipe hole.
Optionally, dividing the pipe hole surface of the workpiece into regions according to the pipe hole surface information; and sequencing the divided regions, setting a precision calibration sequence corresponding to the divided regions, and generating the precision calibration scheme.
Optionally, the measuring tool is controlled to measure the pipe hole surface of the workpiece for N times, and positions of the measuring points selected on the workpiece when the measuring tool measures the pipe hole surface of the workpiece are different; n is more than or equal to 3; and determining the positions of the N measuring points according to a coordinate system of a machine system, and determining the position of the plane of the pipe hole surface of the workpiece according to the positions of the N measuring points.
Optionally, determining a corresponding position relationship between the workpiece graph and a pipe hole surface of the workpiece; determining a positioning area which needs to be positioned on the workpiece according to the corresponding position relation and the divided areas; and acquiring image information of the positioning area by using a machine system according to the position of the plane of the pipe hole surface of the workpiece through a coordinate system of the machine system, wherein the image information of the positioning area comprises the image information of the pipe hole in the positioning area.
Optionally, performing distortion calibration on the image information of the pipe hole; determining the initial positioning position of the central point of the pipe hole through a coordinate system of a machine system according to the processed image information of the pipe hole; and determining the specific position of the pipe hole according to the initial position of the central point of the pipe hole and the radius of the pipe hole.
Optionally, the pipe hole is subjected to precision processing according to the specific position of the pipe hole, and a final position of the pipe hole is determined.
Optionally, determining the boundary of the pipe hole according to the initial positioning position of the central point of the pipe hole and the radius of the pipe hole; setting a search caliper according to the gray level change; obtaining edge points according to the search caliper; fitting according to the edge points to obtain a fitting graph and the position of the fitting graph, wherein the position of the fitting graph is the final position of the pipe hole; and sending the welding data to a machine system so that the machine system performs welding operation according to the final position.
The present invention also provides a pipe hole positioning device for a workpiece, comprising: the scheme setting unit is used for setting a precision calibration scheme for the workpiece according to pipe hole surface information of the workpiece, wherein the pipe hole surface information comprises the area of a pipe hole of the workpiece and the position of the pipe hole on the workpiece; the plane determining unit is used for determining the position of the plane of the pipe hole surface of the workpiece; the image acquisition unit is used for determining an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme and the position of the plane of the pipe hole surface of the workpiece, and acquiring the image information of the pipe hole on the workpiece at the image acquisition position; and the position acquisition unit is used for processing the acquired image information of the pipe hole on the workpiece and determining the specific position of the pipe hole.
Optionally, the scheme setting unit is further configured to perform area division on the pipe hole surface of the workpiece according to the pipe hole surface information; and sequencing the divided regions, setting a precision calibration sequence corresponding to the divided regions, and generating the precision calibration scheme.
Optionally, the plane determining unit is further configured to control a measuring tool to perform N times of measurements on the pipe hole surface of the workpiece, and positions of measuring points selected on the workpiece when the measuring tool measures the pipe hole surface of the workpiece are different; n is more than or equal to 3; and determining the positions of the N measuring points according to a coordinate system of a machine system, and determining the position of the plane of the pipe hole surface of the workpiece according to the positions of the N measuring points.
Optionally, the image acquisition unit is further configured to determine a corresponding position relationship between the workpiece map and a tube hole surface of the workpiece; determining a positioning area which needs to be positioned on the workpiece according to the corresponding position relation and the divided areas; and acquiring image information of the positioning area by using a machine system according to the position of the plane of the pipe hole surface of the workpiece through a coordinate system of the machine system, wherein the image information of the positioning area comprises the image information of the pipe hole in the positioning area.
Optionally, the position obtaining unit is further configured to perform distortion calibration on the image information of the tube hole; determining the initial positioning position of the central point of the pipe hole through a coordinate system of a machine system according to the processed image information of the pipe hole; and determining the specific position of the pipe hole according to the initial position of the central point of the pipe hole and the radius of the pipe hole.
Optionally, the position obtaining unit is further configured to perform precision processing on the pipe hole according to the specific position of the pipe hole, and determine a final position of the pipe hole.
Optionally, the position obtaining unit is further configured to determine a boundary of the pipe hole according to the initial positioning position of the center point of the pipe hole and the radius of the pipe hole; setting a search caliper according to the gray level change; obtaining edge points according to the search caliper; fitting according to the edge points to obtain a fitting graph and the position of the fitting graph, wherein the position of the fitting graph is the final position of the pipe hole; and sending the data to the robot so that the robot performs welding operation according to the final position.
The present invention also provides a computer readable storage medium having stored thereon computer instructions which, when executed, perform the steps of the method for locating a pipe hole in a workpiece according to any of the above-described methods.
The invention also provides a pipe hole positioning device for workpieces, which comprises a memory and a processor, wherein the memory is stored with computer instructions, and the processor executes the steps of any one of the above methods for positioning the pipe hole of the workpiece when the computer instructions are executed.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the method comprises the steps of formulating an accuracy calibration scheme according to information of a hole surface of a workpiece pipe, obtaining image information of a workpiece assembling position according to the accuracy calibration scheme and the information of the hole surface of the workpiece pipe by using a machine system, processing the image information, determining the specific position of the assembling position according to the image information, and improving the accuracy and the efficiency of workpiece assembling.
Further, the region needing image acquisition is determined by using the workpiece image corresponding to the workpiece, and the image acquisition accuracy is improved.
Furthermore, a search caliper is arranged on the preliminarily determined pipe hole boundary, the final position of the pipe hole is determined according to the obtained parameters, and the accuracy of positioning the pipe hole position is improved.
Drawings
Fig. 1 is a schematic flow chart illustrating a method for locating a pipe hole of a workpiece according to an embodiment of the present invention;
FIG. 2 is a front view of a workpiece provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a search caliper placed on the pore boundary as provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a pipe hole positioning device for a workpiece according to an embodiment of the present invention.
Detailed Description
As mentioned above, when the prior art is used for positioning the assembly position of the workpiece, the positioning efficiency is low.
According to the technical scheme provided by the invention, an accuracy calibration scheme is formulated according to the information of the hole surface of the workpiece pipe, the image information of the assembly position of the workpiece is obtained by using a machine system according to the accuracy calibration scheme and the information of the hole surface of the workpiece pipe, and after the image information is processed, the specific position of the assembly position is determined according to the image information, so that the accuracy and the efficiency of workpiece assembly are improved.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 1, the present invention provides a method for positioning a pipe hole of a workpiece, comprising the steps of:
step S101, setting an accuracy calibration scheme for the workpiece according to pipe hole surface information of the workpiece, wherein the pipe hole surface information comprises the area of a pipe hole of the workpiece and the position of the pipe hole on the workpiece.
Referring to fig. 2, a front view of a workpiece provided with a pipe hole 21, a pipe hole 22, a pipe hole 23 and a pipe hole 24 is shown in an embodiment of the present invention. In practical application, the pipe holes formed in the workpiece may be through holes, that is, the pipe hole 21, the pipe hole 22, the pipe hole 23, and the pipe hole 24 are formed in one surface of the workpiece, and the pipe hole corresponding to the pipe hole 21, the pipe hole corresponding to the pipe hole 22, the pipe hole corresponding to the pipe hole 23, and the pipe hole corresponding to the pipe hole 24 are formed in the other surface corresponding to the workpiece.
In particular implementations, during workpiece assembly, it is desirable to precisely locate the location of workpiece tube holes to ensure accuracy of workpiece assembly.
In a specific implementation, the surface provided with the pipe holes is a pipe hole surface.
In a specific implementation, when the machine system collects the image information of the workpiece, since the machine system may not ensure that the image collecting sensor is aligned to the workpiece in parallel for image collection, the collected image information is often distorted, thereby causing a positioning error of the workpiece assembly position. Therefore, a scheme of acquiring the image of the workpiece in different areas is adopted according to the area of the pipe hole of the workpiece and the position of the pipe hole on the workpiece. Because the area of each region cannot be overlarge, the distortion of the acquired corresponding image is avoided, and the acquired image information of each pipe hole on the workpiece cannot be distorted.
In specific implementation, the scheme of the image acquisition sequence of the workpiece subareas is a precision calibration scheme of the workpiece.
For example, the area of the surface of the workpiece provided with the pipe holes is 1 square meter, 10 pipe holes are uniformly distributed on 1 square meter, the surface provided with the pipe holes is uniformly divided into 10 areas with the area of 10 square decimeters, and the 10 areas are marked as 1-10. And adopting an accuracy calibration scheme, firstly acquiring the image information of the area with the reference number 1, then acquiring the image information of the area with the reference number 2, then acquiring the image information of the area with the reference number 3, and so on until the acquisition of the image information of the area with the reference number 10 is completed.
In a specific implementation, when the area of the surface of the workpiece on which the pipe hole is arranged is small, the image information can be acquired only once.
In a specific implementation, the setting of the precision calibration scheme may be determined according to a preset algorithm, or may be determined manually.
And step S102, determining the position of the plane of the pipe hole surface of the workpiece.
In particular implementations, in order to be able to accurately perform the precision calibration scheme, image information is acquired for each region, and therefore, it is necessary to determine the position of the plane in which the tube aperture face of the workpiece lies.
In the implementation, the position of the plane of the pipe hole surface of the workpiece can be determined manually, and the position of the plane of the pipe hole surface of the workpiece can also be determined by using a coordinate system of a machine system.
Step S103, determining an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme, and the position of the plane where the pipe hole surface of the workpiece is located, and acquiring image information of the pipe hole on the workpiece at the image acquisition position.
For example, according to the precision calibration scheme, if image information of the area labeled 1 is to be acquired, the measurement range of the image acquisition sensor is moved to the area labeled 1 and image acquisition is performed according to the position of the plane where the pore surface is located and the pore surface information.
And if the image information of the area marked with 5 is to be acquired according to the precision calibration scheme, moving the measurement range of the image acquisition sensor to the area marked with 5 and acquiring the image according to the position of the plane of the pipe hole surface and the pipe hole surface information.
And step S104, processing the acquired image information of the pipe hole on the workpiece, and determining the specific position of the pipe hole.
In a specific implementation, after the image information of the pipe hole on the workpiece is acquired, the image information may be subjected to image processing in order to further improve the assembly accuracy. In practical applications, the image processing on the image information may include noise removal, image enhancement, distortion calibration, and the like.
In an implementation, after processing the image of the pipe hole on the workpiece, the location of the corresponding pipe hole on the workpiece may be determined based on the location of the pipe hole in the image.
In the embodiment of the invention, the precision calibration scheme is a scheme set for improving the precision of positioning the assembly position of the workpiece. The method specifically comprises the steps of sequencing divided areas on a workpiece, setting a precision calibration sequence corresponding to the divided areas, and generating the precision calibration scheme.
In specific implementation, each divided area on the workpiece is positioned according to the precision calibration sequence, so that the precision of positioning the pipe hole of the workpiece is improved.
For example, the surface of the workpiece on which the pipe hole is provided is divided into 10 regions, each corresponding to reference numerals 1 to 10, and according to the precision calibration scheme, the acquisition of the image information of the region denoted by reference numeral 1 is started, and the acquisition of the image information of the region denoted by reference numeral 10 is ended.
In the embodiment of the invention, the position of the plane of the pipe hole surface of the workpiece can be obtained by the following method: controlling a measuring tool to measure the pipe hole surface of the workpiece for N times, wherein the positions of the measuring points selected on the workpiece when the measuring tool measures the pipe hole surface of the workpiece are different; n is more than or equal to 3; and determining the positions of the N measuring points according to a coordinate system of a machine system, and determining the position of the plane of the pipe hole surface of the workpiece according to the positions of the N measuring points.
In a specific implementation, the mode of determining the position of the plane of the pipe orifice face through at least three points on the pipe orifice face is quick and accurate. The position of a measuring point on the pipe hole surface is determined by uniformly using the coordinate system of the machine system, and the position of the plane of the pipe hole surface can be determined in the coordinate system of the machine system, so that the pipe hole surface can be conveniently and directly subjected to image acquisition in the subsequent process according to the coordinate system of the machine system, and errors caused by coordinate system conversion or coupling of the position of the pipe hole surface and the coordinate system are avoided.
In implementations, a laser sensor may be used to measure the bore face of a workpiece.
In the embodiment of the invention, the pipe hole surface information comprises a workpiece drawing, wherein the workpiece drawing can be an engineering drawing of a workpiece, and the shape and the contour of the pipe hole surface of the workpiece and the length information of each line are recorded.
In the embodiment of the invention, the precision calibration scheme can be better executed in the following modes: determining the corresponding position relation between the workpiece graph and the pipe hole surface of the workpiece; determining a positioning area which needs to be positioned on the workpiece according to the corresponding position relation and the divided areas; and acquiring image information of the positioning area by using a machine system according to the position of the plane of the pipe hole surface of the workpiece through a coordinate system of the machine system, wherein the image information of the positioning area comprises the image information of the pipe hole in the positioning area.
In specific implementation, a workpiece diagram of a workpiece can be regarded as a "map" of the workpiece, a pipe hole surface on the workpiece diagram corresponds to a pipe hole surface of the workpiece, a region divided in a precision calibration scheme can be determined on the pipe hole surface on the workpiece diagram, and a position of the region divided in the precision calibration scheme on an actual workpiece is determined according to information on the workpiece diagram, so that accuracy of subsequently acquiring image information of the region divided in the precision calibration scheme is improved, and image information in other regions is prevented from being acquired when image information of a certain region is acquired.
In specific implementation, when the position of the plane of the pipe hole surface is determined by the laser sensor, the acquisition angle of the machine system during image acquisition is adjusted according to the included angle between the pipe hole surface and a specific surface, for example, the included angle between the pipe hole surface and a horizontal plane or a vertical plane, so that the image acquisition sensor is enabled to be aligned to a workpiece in parallel to acquire images, and the acquired images are prevented from being distorted.
In an embodiment of the present invention, the pipe hole surface information includes a radius of a pipe hole on the workpiece.
In the embodiment of the invention, after the image information of the workpiece is acquired, distortion calibration processing can be carried out on the image information. According to the processed image information, the initial location position of the central point of the pipe hole can be determined through a coordinate system of a machine system, and the specific location of the pipe hole is determined according to the initial location position of the central point of the pipe hole and the radius of the pipe hole.
In implementations where the radius of the pipe bore is determined, the error in determining the center point of the pipe bore is typically less than the error in directly determining the location of the pipe bore boundary, so that the specific location of the pipe bore can be accurately determined from the center point of the pipe bore.
In the embodiment of the invention, the pipe hole can be precisely processed according to the specific position of the pipe hole, and the final position of the pipe hole is determined.
In embodiments of the invention, the final location of the pipe bore may be determined by: determining the boundary of the pipe hole according to the initial positioning position of the central point of the pipe hole and the radius of the pipe hole; setting a search caliper according to the gray level change; obtaining edge points according to the search caliper; and fitting according to the edge points to obtain a fitting graph and the position of the fitting graph, wherein the position of the fitting graph is the final position of the pipe hole.
Referring to fig. 3, a schematic diagram of locating a search caliper at a boundary of a pipe hole according to an embodiment of the present invention is shown. The straight line with arrows at two ends on the boundary of the pore is used as a search caliper.
In a specific implementation, according to the specific position of the determined pore, the boundary of the pore can have a relatively obvious gray scale change effect by shining light to the pore. A series of search calipers are arranged on the boundary of the pipe hole according to the gray level change effect, a series of edge points are obtained through parameters such as search length, projection length, edge change polarity and search direction, a fitting graph can be obtained through edge point fitting, the position of the boundary of the fitting graph is the final position of the pipe hole, and the center of the fitting graph is the central position of the pipe hole.
In an embodiment of the invention, after the final position of the pipe hole is determined, the final position is sent to a machine system, and the machine system can convert the final position into a value in a machine system coordinate system and perform a welding operation.
In an implementation, the determination of the final location of the pipe hole may be performed by a coordinate system of the machine system and sensors of the machine system, and the welding gun may be adjusted to perform the welding operation after the machine system uses its coordinate system to complete the determination of the final location of the pipe hole.
In a specific implementation, the angle of the welding gun relative to the pipe hole surface during welding is adjusted according to an included angle between the pipe hole surface and a specific surface, for example, an included angle between the pipe hole surface and a horizontal plane or a vertical plane, when the laser sensor is used for determining the position of the plane of the pipe hole surface.
Referring to fig. 4, the present invention also provides a pipe hole positioning device 40 for a workpiece, comprising:
a plan setting unit 401, configured to set a precision calibration plan for the workpiece according to pipe hole surface information of the workpiece, where the pipe hole surface information includes a pipe hole area of the workpiece and a position of a pipe hole in the workpiece;
a plane determining unit 402, configured to determine a position of a plane where a pipe orifice surface of the workpiece is located;
an image acquisition unit 403, configured to determine an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme, and the position of the plane where the pipe hole surface of the workpiece is located, and acquire image information of a pipe hole in the workpiece at the image acquisition position;
a position acquiring unit 404, configured to process the acquired image information of the pipe hole on the workpiece, and determine a specific position of the pipe hole.
In a specific implementation, the scheme setting unit 401 may be further configured to perform area division on the pipe hole surface of the workpiece according to the pipe hole surface information; and sequencing the divided regions, setting a precision calibration sequence corresponding to the divided regions, and generating the precision calibration scheme.
In a specific implementation, the plane determining unit 402 may be further configured to control a measuring tool to perform N times of measurement on the pipe hole surface of the workpiece, where positions of measuring points selected on the workpiece when the measuring tool measures the pipe hole surface of the workpiece are different; n is more than or equal to 3; and determining the positions of the N measuring points according to a coordinate system of a machine system, and determining the position of the plane of the pipe hole surface of the workpiece according to the positions of the N measuring points.
In a specific implementation, the image capturing unit 403 may be further configured to determine a corresponding position relationship between the workpiece map and a pipe hole surface of the workpiece; determining a positioning area which needs to be positioned on the workpiece according to the corresponding position relation and the divided areas; and acquiring image information of the positioning area by using a machine system according to the position of the plane of the pipe hole surface of the workpiece through a coordinate system of the machine system, wherein the image information of the positioning area comprises the image information of the pipe hole in the positioning area.
In a specific implementation, the position obtaining unit 404 may be further configured to perform distortion calibration on the image information of the pore; determining the initial positioning position of the central point of the pipe hole through a coordinate system of a machine system according to the processed image information of the pipe hole; and determining the specific position of the pipe hole according to the initial position of the central point of the pipe hole and the radius of the pipe hole.
In a specific implementation, the position obtaining unit 404 may be further configured to perform precision processing on the pipe hole according to the specific position of the pipe hole, and determine a final position of the pipe hole.
In a specific implementation, the position obtaining unit 404 may be further configured to determine a boundary of a pipe hole according to the initial positioning position of the pipe hole center point and a radius of the pipe hole; setting a search caliper according to the gray level change; obtaining edge points according to the search caliper; fitting according to the edge points to obtain a fitting graph and the position of the fitting graph, wherein the position of the fitting graph is the final position of the pipe hole; and sending the data to the robot so that the robot performs welding operation according to the final position.
The present invention also provides a computer readable storage medium having stored thereon computer instructions for carrying out the steps of the method for locating a pipe hole in a workpiece according to any of the above methods.
The invention also provides a pipe hole positioning device for workpieces, which comprises a memory and a processor, wherein the memory is stored with computer instructions, and the processor executes the steps of any one of the above methods for positioning the pipe hole of the workpiece when the computer instructions are executed.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by instructing the relevant hardware through a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of locating a pipe hole in a workpiece, comprising:
setting a precision calibration scheme for the workpiece according to pipe hole area information of the workpiece, wherein the pipe hole area information comprises the pipe hole area of the workpiece and the position of a pipe hole in the workpiece; the setting of the precision calibration scheme for the workpiece according to the pipe hole surface information of the workpiece comprises the following steps: dividing the pipe hole surface of the workpiece into areas according to the pipe hole surface information; sequencing the divided regions, setting a precision calibration sequence corresponding to the divided regions, and generating the precision calibration scheme;
determining the position of a plane where a pipe hole surface of the workpiece is located;
determining an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme and the position of the plane of the pipe hole surface of the workpiece, and acquiring the image information of the pipe hole on the workpiece at the image acquisition position;
processing the acquired image information of the pipe hole on the workpiece to determine the specific position of the pipe hole, and the method comprises the following steps: carrying out distortion calibration on the image information of the pipe hole; determining the initial positioning position of the central point of the pipe hole through a coordinate system of a machine system according to the processed image information of the pipe hole; determining the specific position of the pipe hole according to the initial position of the central point of the pipe hole and the radius of the pipe hole; after determining the specific position of the pipe hole, performing precision processing on the pipe hole according to the specific position of the pipe hole, and determining the final position of the pipe hole, wherein the method comprises the following steps: determining the boundary of the pipe hole according to the initial positioning position of the central point of the pipe hole and the radius of the pipe hole; setting a search caliper according to the gray level change; obtaining edge points according to the search caliper; and fitting according to the edge points to obtain a fitting graph and the position of the fitting graph, wherein the position of the fitting graph is the final position of the pipe hole.
2. A method of locating a pipe hole in a workpiece according to claim 1, wherein said determining the location of the plane of the pipe hole face of the workpiece comprises:
controlling a measuring tool to measure the pipe hole surface of the workpiece for N times, wherein the positions of the measuring points selected on the workpiece when the measuring tool measures the pipe hole surface of the workpiece are different; n is more than or equal to 3;
and determining the positions of the N measuring points according to a coordinate system of a machine system, and determining the position of the plane of the pipe hole surface of the workpiece according to the positions of the N measuring points.
3. A method for pipe hole positioning of a workpiece according to claim 1, wherein the pipe hole surface information includes a workpiece map, and the determining an image capturing position according to the pipe hole surface information of the workpiece, the precision calibration scheme and the position of the plane of the pipe hole surface of the workpiece, and capturing the image information of the pipe hole on the workpiece at the image capturing position comprises:
determining the corresponding position relation between the workpiece graph and the pipe hole surface of the workpiece;
determining a positioning area which needs to be positioned on the workpiece according to the corresponding position relation and the divided areas;
and acquiring image information of the positioning area by using a machine system according to the position of the plane of the pipe hole surface of the workpiece through a coordinate system of the machine system, wherein the image information of the positioning area comprises the image information of the pipe hole in the positioning area.
4. A method of locating a pipe hole in a workpiece according to claim 1, further comprising, after determining the final location of the pipe hole:
sending the final position to a machine system so that the machine system performs a welding operation according to the final position.
5. A pipe hole positioning device for a workpiece, comprising:
the scheme setting unit is used for setting a precision calibration scheme for the workpiece according to pipe hole surface information of the workpiece, wherein the pipe hole surface information comprises the area of a pipe hole of the workpiece and the position of the pipe hole on the workpiece; the scheme setting unit is used for dividing the pipe hole surface of the workpiece into areas according to the pipe hole surface information; sequencing the divided regions, setting a precision calibration sequence corresponding to the divided regions, and generating the precision calibration scheme;
the plane determining unit is used for determining the position of the plane of the pipe hole surface of the workpiece;
the image acquisition unit is used for determining an image acquisition position according to the pipe hole surface information of the workpiece, the precision calibration scheme and the position of the plane of the pipe hole surface of the workpiece, and acquiring the image information of the pipe hole on the workpiece at the image acquisition position;
the position acquisition unit is used for processing the acquired image information of the pipe hole on the workpiece and determining the specific position of the pipe hole, and comprises: carrying out distortion calibration on the image information of the pipe hole; determining the initial positioning position of the central point of the pipe hole through a coordinate system of a machine system according to the processed image information of the pipe hole; determining the specific position of the pipe hole according to the initial position of the central point of the pipe hole and the radius of the pipe hole;
the position obtaining unit is further configured to perform precision processing on the pipe hole according to the specific position of the pipe hole, and determine a final position of the pipe hole, including: determining the boundary of the pipe hole according to the initial positioning position of the central point of the pipe hole and the radius of the pipe hole; setting a search caliper according to the gray level change; obtaining edge points according to the search caliper; and fitting according to the edge points to obtain a fitting graph and the position of the fitting graph, wherein the position of the fitting graph is the final position of the pipe hole.
6. The pipe hole positioning device for the workpiece according to claim 5, wherein the plane determining unit is further configured to control a measuring tool to perform N measurements on the pipe hole surface of the workpiece, and positions of measuring points selected on the workpiece when the measuring tool measures the pipe hole surface of the workpiece are different; n is more than or equal to 3; and determining the positions of the N measuring points according to a coordinate system of a machine system, and determining the position of the plane of the pipe hole surface of the workpiece according to the positions of the N measuring points.
7. The pipe hole positioning device of a workpiece according to claim 5, wherein the image acquisition unit is further configured to determine a corresponding positional relationship between the workpiece map and a pipe hole surface of the workpiece; determining a positioning area which needs to be positioned on the workpiece according to the corresponding position relation and the divided areas; and acquiring image information of the positioning area by using a machine system according to the position of the plane of the pipe hole surface of the workpiece through a coordinate system of the machine system, wherein the image information of the positioning area comprises the image information of the pipe hole in the positioning area.
8. A pipe hole positioning device for workpieces according to claim 5, wherein the position acquisition unit is further configured to send the final position to a machine system so that the machine system performs a welding operation according to the final position.
9. A computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method of locating a pipe hole in a workpiece according to any of claims 1 to 4.
10. A pipe hole positioning device for a workpiece, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor executes the steps of the pipe hole positioning method for a workpiece according to any one of claims 1 to 4 when the computer program is executed.
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| CN201810987167.XA CN109014725B (en) | 2018-08-28 | 2018-08-28 | Method and device for positioning pipe hole of workpiece and computer storage medium |
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| GB1445278A (en) * | 1974-03-06 | 1976-08-11 | Nii Introskopii | Apparatus for detecging faults in welded pipe joints |
| KR100705264B1 (en) * | 2005-12-29 | 2007-04-09 | 주식회사 포스코 | Apparatus for aligning welding point of hydroforming tube automatically |
| CN201076976Y (en) * | 2007-08-31 | 2008-06-25 | 苏州工业园区华焊科技有限公司 | Coaxial tube plate welding equipment |
| CN101135656B (en) * | 2007-09-20 | 2010-06-23 | 中国特种设备检测研究院 | Pipe-pipe sheet weld joint non-destructive inspection system |
| CN101359400B (en) * | 2008-09-17 | 2010-06-23 | 湖南大学 | Process for positioning spatial position of pipe mouth based on vision |
| US8063385B2 (en) * | 2009-05-29 | 2011-11-22 | General Electric Company | Method and apparatus for ultraviolet scan planning |
| KR101767923B1 (en) * | 2012-05-11 | 2017-08-17 | 한화테크윈 주식회사 | Method and apparatus for inspecting via hole |
| CN102778506B (en) * | 2012-08-02 | 2014-07-30 | 国核电站运行服务技术有限公司 | Automatic sweeping system for detecting tubing and panel workpiece with different diameters |
| CN103942817B (en) * | 2014-05-12 | 2017-01-11 | 重庆市机电设计研究院 | Alloy cast ingot positioning method based on machine vision |
| CN105403145B (en) * | 2015-11-02 | 2017-12-15 | 西北工业大学 | A kind of square patch accurate positioning method based on profile scan |
| JP6777488B2 (en) * | 2016-09-27 | 2020-10-28 | 株式会社Ｓｃｒｅｅｎホールディングス | Position measuring device and position measuring method |
| CN107218930B (en) * | 2017-05-05 | 2020-01-03 | 山东大学 | Monocular-hand-eye-system-based active measurement method for six-dimensional position-posture of space circle |
| CN108074263B (en) * | 2017-11-20 | 2021-09-14 | 蔚来(安徽)控股有限公司 | Visual positioning method and system |
| CN108205395B (en) * | 2018-01-16 | 2021-03-23 | 安徽慧视金瞳科技有限公司 | Method for accurately positioning center coordinates of calibration points |
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