CN109202284A - A kind of weld and HAZ method and the system applied to weld and HAZ - Google Patents
A kind of weld and HAZ method and the system applied to weld and HAZ Download PDFInfo
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- CN109202284A CN109202284A CN201811120295.0A CN201811120295A CN109202284A CN 109202284 A CN109202284 A CN 109202284A CN 201811120295 A CN201811120295 A CN 201811120295A CN 109202284 A CN109202284 A CN 109202284A
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
Embodiment of the present invention discloses a kind of weld and HAZ method, for the positioning to the docking location between welding workpiece, comprising: industrial camera reception laser beam is radiated at the structure light that docking location reflects and forms image；Described image is handled to obtain the structural light stripes skeleton being made of single pixel；According to the structural light stripes skeleton, the characteristic point in the docking location region is extracted in described image, obtains coordinate of the docking location in described image；The actual coordinate that docking location is calculated in offset is carried out to the docking location coordinate in described image.Through the above way, embodiment of the present invention solves the problems, such as the position inaccurate of the docking location among the welding workpiece folded in the prior art, and localization method through the invention improves positioning accuracy, be conducive to subsequent welding operation, improve the quality of welding.
Description
Technical field
Embodiment of the present invention is related to laser welding field, more particularly to a kind of weld and HAZ method and is applied to weld seam
The system of positioning.
Background technique
In the industries such as industrial processing field, especially machine-building, aerospace, automobile, national defence, laser welding is with energy
The advantages that density is high, speed of welding is fast, heated effluent field is small, welding thermal deformation is small, weld properties are good is very widely used.
However laser, after focus processing, spot size is very small, if hot spot cannot navigate to position while welding, is very easy to cause
Welding defect, so being realized in the important research for automatically tracking always laser welding to weld seam in the welding process
The key technology of appearance and intelligence manufacture.The premise for realizing weld joint tracking is to realize the accurate positionin of weld seam, the side of weld and HAZ
Method according to application and the difference of welding manner and it is different.
In laser welding processed and applied, folded sheet welding is a kind of common welding application, i.e., two blocks of plates into
Welding is docked again after the bending of row certain radian, is usually used in realizing the closure processing of metal structure, in machine-building, safety
The industrial applications such as protection are extensive.However this welding processing is using there are two critical issues: first, meeting after folded sheet docking
There are the bending of small randomness, for requiring the application that welding precision is high and weld strength is big, it is necessary to have weld and HAZ and
Following function just can guarantee welding quality, otherwise may there is welding defect；Second, since there are one for folded sheet back edge
A radian, and the folding radian of every block of plate is not consistent, can there is a wider uncertain weldering after folding docking
Region is stitched, but best weld and HAZ position is the docking location of two plates, and this serious shadow of uncertain welded seam area
The precision for ringing weld and HAZ, causes weld joint tracking deviation, influences welding quality.
Summary of the invention
Embodiment of the present invention is mainly solving the technical problems that provide a kind of weld and HAZ method and fixed applied to weld seam
The system of position, is able to solve the problem of folded sheet welding precision difference.
In order to solve the above technical problems, the technical solution that embodiment of the present invention uses is: it is fixed to provide a kind of weld seam
Position method, for the positioning to the docking location between welding workpiece characterized by comprising industrial camera receives laser beam
It is radiated at the structure light that docking location reflects and forms image；Described image handled to obtain and is made of single pixel
Structural light stripes skeleton；According to the structural light stripes skeleton, the spy in the docking location region is extracted in described image
Point is levied, coordinate of the docking location in described image is obtained；Offset calculating is carried out to the docking location coordinate in described image
Obtain the actual coordinate of docking location.
Preferably, described image is made of a hot spot striped jaggy, and the notch is then the docking location.
It is preferably, described that the step of obtaining the structural light stripes skeleton being made of single pixel is handled to described image,
It specifically includes: extracting effective coverage in described image, and clarity processing is carried out to the image after extraction, to obtain clearly
Image；Be converted to the structural light stripes skeleton that an each column only includes a pixel to described image.
Preferably, effective coverage in the extraction described image, and targets improvement processing is carried out to the image after extraction, from
And the step of obtaining clearly image include: successively the structure light image is filtered, binaryzation and morphology open fortune
Calculation processing, to obtain clear clearly demarcated image.
Preferably, described be converted to described image the structural light stripes bone that an each column only includes a pixel
The step of frame, specifically includes: being scanned from top to bottom to the pixel of each column of described image, determines each column of described image
The coordinate of middle upper and lower ends point；Using the middle position of each column two-end-point as target point, thus obtain by several mesh
The structural light stripes skeleton that punctuate is constituted.
Preferably, described according to the structural light stripes skeleton, the docking location region is extracted in described image
Characteristic point, the step of obtaining coordinate of the docking location in described image, specifically include: obtaining the structural light stripes skeleton
The two-end-point position of upper notch, the two-end-point is as characteristic point；Respectively to the characteristic point with the slight distance of relative direction
It solves derivative and does two tangent lines, wherein two tangent lines intersect；The coordinate for calculating two tangent line crosspoints, is docked
Coordinate of the position in described image.
Preferably, the docking location coordinate in described image carries out the reality that docking location is calculated in offset
The step of coordinate specifically includes: a default plane of reference, the plane of reference are parallel with actual welding workpiece surface；Obtain laser beam
It is sent out in the angle α, industrial camera imaging surface and the plane of reference of reflection light and incident ray that the plane of reference emits
The angle β of reflection light, the distance l1 of the plane of reference surface incidence luminous point to industrial camera lens centre of raw reflection and
Industrial camera lens centre to industrial camera imaging surface imaging point distance be l2；Calculate the position while welding offsets in height
Amount:Wherein, Δ H is the offset of the relatively described plane of reference height of welding workpiece, Δ h
The reflection light reflected for the plane of reference picture point and welding workpiece on industrial camera imaging surface reflect
Distance of the reflection light between the picture point on industrial camera imaging surface.
Preferably, described docking location coordinate progress offset is calculated between actual welding workpiece docks position
The step of setting, comprising: a default reference zone, the reference zone is area of the laser vertical irradiation in the welding workpiece
Domain；Obtain angle α, the industrial camera imaging of reflection light and incident ray that laser beam reflects on the reference zone
Angle β, the reference zone incidence luminous point to industrial camera lens for the reflection light that face and the reference zone reflect
The distance of imaging point of the distance l1 at center and industrial camera lens centre to industrial camera imaging surface is l2；Calculate the weldering
Stitch the offset of position horizontal direction:Wherein, Δ W is that welding workpiece surface is horizontal
Offset, Δ w is reflection light picture point and welding on industrial camera imaging surface for reflecting of the reference zone
Distance of the reflection light that workpiece reflects between the picture point on industrial camera imaging surface.
In order to solve the above technical problems, another technical solution that embodiment of the present invention uses is: providing a kind of application
In the system of weld and HAZ, comprising: laser；Industrial camera, the industrial camera and the laser are in the same plane,
And with welding workpiece triangle posture at an acute angle, the laser beam that the laser emits is radiated at the docking position of the welding workpiece
It sets the reflection light reflected to fall into industrial camera, to form structure light image；Camera lens, for laser beam into
Line focusing, the camera lens are set in the optical path of the reflection light, and between the industrial camera and welding workpiece；
Controller, the controller and the industrial camera communication connection receive the structure light image that the industrial camera is sent and go forward side by side
Row processing.
Preferably, the controller includes receiving module, and the laser beam sent for industrial camera is radiated at docking location
The structure light that reflects simultaneously forms image；Image processing module, for being handled to obtain by single pixel structure to described image
At structural light stripes skeleton；Extraction module, it is described for being extracted in described image according to the structural light stripes skeleton
The characteristic point in docking location region obtains coordinate of the docking location in described image；Computing module, for in described image
Docking location coordinate carry out offset the actual coordinate of docking location be calculated.
The beneficial effect of embodiment of the present invention is: being in contrast to the prior art, embodiment of the present invention provides one
Kind weld and HAZ method, solves the problems, such as the position inaccurate of the docking location among the welding workpiece folded in the prior art,
Localization method through the invention, improves positioning accuracy, is conducive to subsequent welding operation, improves the quality of welding.
Detailed description of the invention
Fig. 1 is a kind of flow chart of weld and HAZ method provided in an embodiment of the present invention；
Fig. 2 is the flow chart that structural light stripes skeleton is extracted in a kind of weld and HAZ method provided in an embodiment of the present invention；
Fig. 3 is the flow chart that docking location coordinate is obtained in a kind of weld and HAZ method provided in an embodiment of the present invention；
Fig. 4 is the status diagram presented in structure light irradiation welding workpiece provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of the treatment process of structure light image provided in an embodiment of the present invention；
Fig. 6 is the light path schematic diagram that welding workpiece provided in an embodiment of the present invention shifts in height and position；
Fig. 7 is the light path schematic diagram that welding workpiece provided in an embodiment of the present invention shifts in horizontal position；
Fig. 8 is a kind of schematic diagram of system applied to weld and HAZ provided in an embodiment of the present invention.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Refering to fig. 1, embodiment of the present invention provides a kind of weld and HAZ method, for the docking position between welding workpiece
The positioning set, comprising:
S1: industrial camera reception laser beam is radiated at the structure light that docking location reflects and forms image；
In embodiments of the present invention, the laser, industrial camera and welding workpiece placement triangular in shape, and it is described
Laser and industrial camera are in the same plane, and the laser beam vertical irradiation of the laser swashs in the welding workpiece
Light beam is reflected into being imaged in industrial camera.
In invention the present embodiment, the laser of use is miniature semiconductor laser, miniature semiconductor laser
It can issue the extremely narrow laser band of high brightness, low width, referred to as structure light, it can table when project structured light is to welding workpiece surface
Reveal a laser stripe, referring to Fig. 4, Fig. 4 is exactly the state that laser beam is radiated in welding workpiece.When welding workpiece exists
When non-planar form, for example, two plates each one end carry out certain radian bending, then by the curved part of two plates into
Row docking, forms docking location, docking location is in non-planar form at this time, and the laser stripe being radiated above will be according to workpiece
Configuration of surface corresponding distortion occurs, the structure light of distortion can generate diffusing reflection on welding workpiece surface, and reflected light can be by work
Industry camera receives imaging.
S2: described image is handled to obtain the structural light stripes skeleton being made of single pixel；
In invention the present embodiment, there is when the image of the formation one fixed width, be unfavorable for the extraction of characteristic point in this way,
So being processed into the structural light stripes skeleton of single pixel, it is advantageous for extracting characteristic point in this way.
In invention the present embodiment, due to being to dock the plate that two pieces fold, that butted part forms figure
It will be in notch state when picture, referring to Fig. 5, being structural light stripes, notch in structural light stripes shown in 1 part of image in Fig. 5
Namely docking location, then the structural light stripes skeleton formed after treatment is also jaggy accordingly.
S3: according to the structural light stripes skeleton, extracting the characteristic point in the docking location region in described image,
Obtain coordinate of the docking location in described image；
The single pixel structural light stripes skeleton handled through the above steps, is clear that the structure striation
The coordinate value of each pixel on line skeleton, it is possible to extract the characteristic point coordinate in docking location region, that is, described
The characteristic point coordinate of notch.
S4: the actual coordinate that docking location is calculated in offset is carried out to the docking location coordinate in described image；
If welding workpiece is subjected to displacement, reflected light also can be accordingly subjected to displacement in the imaging of industrial camera, be passed through
Offset calculates the physical location that can be obtained by docking location, can thus understand and position to docking location.
In embodiments of the present invention, the positioning of the docking location among the welding workpiece folded in the prior art is solved not
Accurate problem, localization method through the invention, improves positioning accuracy, is conducive to subsequent welding operation, improves welding
Quality.
Further, referring to Fig. 2, Fig. 2 is to extract structure in a kind of weld and HAZ method provided in an embodiment of the present invention
The flow chart of striations skeleton, specifically, S2 specific implementation step includes:
S21: effective coverage in described image is extracted, and targets improvement processing is carried out to the image after extraction, to obtain
Clearly image；
As shown in 1 part of image in Fig. 5, the targets improvement processing mode is first to image for effective coverage after extraction
It is filtered, eliminate reaction of the various interference on structure light image in noise remove laser beam welding, connect down
To carry out binary conversion treatment to image, i.e., image is converted to two kinds of pixel values of foreground and background colour, enhances the comparison of image
Degree is conducive to subsequent processing, finally carries out the processing of morphology opening operation to image, eliminates isolated other than structural light stripes in image
Pixel further removes noise and enhancing structure striations, so that clear clearly demarcated image, i.e. structural light stripes are obtained,
It is exactly in Fig. 5 shown in 2 part of image.
It is handled using targets improvement, in order to enhance the target area in image convenient for subsequent processing.
S22: be converted to the structural light stripes skeleton that an each column only includes a pixel to described image；
In embodiments of the present invention, step S22 is specifically included:
S221: being scanned the pixel of each column of described image from top to bottom, determines in each column of described image
The coordinate of lower two-end-point；
Due to having carried out clarity processing to image, so structural light stripes are high-visible in image and surrounding is not miscellaneous
Random pixel, structural light stripes at this time have one fixed width.
S222: it using the middle position of each column two-end-point as target point, thus obtains by several target point structures
At the structural light stripes skeleton.
By the way that the structural light stripes with one fixed width to be processed into the structural light stripes skeleton of single pixel composition, this
Sample prescription just extracts characteristic point, the structural light stripes skeleton in Fig. 5 shown in image 3 to be formed after processing.
Further, it is sat referring to Fig. 3, obtaining docking location in a kind of weld and HAZ method provided in an embodiment of the present invention
Target flow chart, specifically, S3 specifically includes the following steps:
S31: the two-end-point position of notch on the structural light stripes skeleton is obtained, the two-end-point is as characteristic point；
Since when extracting structural light stripes skeleton, the coordinate of each pixel on structural light stripes skeleton
It is that there is known, so the two-end-point position of the notch is also available.
S32: derivative is solved with the slight distance of relative direction to the characteristic point respectively and does two tangent lines, wherein described two
The intersection of tangent line；
The occurrence of slight distance can depend on the circumstances, and determine according to the actual situation.Please refer to 4 part of image in Fig. 5
Shown content has done two tangent lines at the both ends of notch.
S33: the coordinate of two tangent line crosspoints is calculated, coordinate of the docking location in described image is obtained；
It should be noted that the docking location docks in the coordinate i.e. industrial camera imaging surface in described image
The corresponding position in position.
Further, referring to Fig. 6, Fig. 6 is that welding workpiece provided in an embodiment of the present invention shifts in height and position
Light path schematic diagram, in embodiments of the present invention, laser, industrial camera and welding workpiece posture triangular in shape, according to triangle
Shape measuring principle, by the offset of industrial camera imaging surface, i.e. coordinate of the docking location in described image shifts inclined
Shifting amount can calculate the offset of welding workpiece horizontal position or height and position generation.
Specific calculating process is that welding workpiece calculates step in the height and position amount of shifting:
A default plane of reference, the plane of reference are parallel with actual welding workpiece surface；
Obtain the angle α of reflection light and incident ray that laser beam emits in the plane of reference, industrial camera at
The angle β for the reflection light that image planes are reflected with the plane of reference, the plane of reference surface incidence luminous point are saturating to industrial camera
The imaging of the distance l1 (distance of AO in namely Fig. 6) at mirror center and industrial camera lens centre to industrial camera imaging surface
The distance of point is l2 (OA ' in Fig. 6)；
Calculate the position while welding height offset:
Wherein, Δ H is the offset of the relatively described plane of reference height of welding workpiece, and Δ h is that the plane of reference reflects
The reflection light reflection light that picture point and the welding workpiece reflect on industrial camera imaging surface industrial camera at
The distance between picture point in image planes.
It should be noted that the plane of reference is a preset plane of reference in laser welding, welding parameter is all root
It is next preset according to this plane of reference, it if it happens offsets by, that is, deviated relative to this plane of reference, it is inclined by calculating
Shifting amount carries out subsequent welding to modify corresponding parameter again, in addition, can learn docking location in institute through the above steps
State the coordinate in image, that is, in the coordinate of industrial camera imaging surface after docking location imaging, i.e., the position of B ' in figure, so
The value of Δ h just it can be seen that.
Further, referring to FIG. 7, Fig. 7 is that welding workpiece provided in an embodiment of the present invention shifts in horizontal position
Light path schematic diagram, welding workpiece when shifting in terms of level, calculate offset the step of are as follows:
A default reference zone, the reference zone is region of the laser vertical irradiation in the welding workpiece；
Obtain angle α, the industry phase of reflection light and incident ray that laser beam reflects on the reference zone
The angle β for the reflection light that machine imaging surface is reflected with the reference zone, the reference zone incidence luminous point to industrial phase
The distance l1 (distance of AO in namely Fig. 7) of machine lens centre and industrial camera lens centre are to industrial camera imaging surface
The distance of imaging point is l2 (OA ' in Fig. 7)；
Calculate the offset of the position while welding horizontal direction:
Wherein, Δ W is the offset of welding workpiece surface level, and Δ w is the reflected light that the reference zone reflects
The line reflection light that picture point and the welding workpiece reflect on industrial camera imaging surface is on industrial camera imaging surface
The distance between picture point.
It should be noted that the reference zone is exactly that there is no the areas that when offset, laser beam irradiates in welding workpiece
Domain；Likewise, in the seat of industrial camera imaging surface after coordinate of the docking location in described image, that is, docking location imaging
Mark has learned that, i.e., the position of B ' in figure, thus the value of Δ h just it can be seen that.
Referring to Fig. 8, Fig. 8 is a kind of schematic diagram of system applied to weld and HAZ provided in an embodiment of the present invention, it is
Above-mentioned technical problem is solved, another technical solution that embodiment of the present invention uses is: provided a kind of applied to weld and HAZ
System, comprising: laser 21；Industrial camera 22, the industrial camera 22 and the laser 21 are in the same plane, and
With the triangle posture at an acute angle of welding workpiece 11 and 12, the laser beam that the laser 21 emits is radiated at the welding workpiece 11
And the reflection light that the docking location between 12 reflects is fallen into industrial camera 22, to form structure light image；Camera
Camera lens 23, for being focused to laser beam, the camera lens 23 are set in the optical path of the reflection light, and are located at described
Between industrial camera 22 and welding workpiece；Controller 27, the controller 27 and the industrial camera communication connection, described in reception
The structure light image of the transmission of industrial camera 22 is simultaneously handled.
It should be noted that welding workpiece is welding workpiece including in two plates, that is, figure 11 and 12.
In invention the present embodiment, the laser of use is miniature semiconductor laser, miniature semiconductor laser
The extremely narrow laser band of high brightness, low width, referred to as structure light 14 can be issued, when structure light 14 projects welding workpiece surface
A laser stripe can be shown, referring to Fig. 4, Fig. 4 is exactly the state that laser beam is radiated in welding workpiece.Work as welding workpiece
Between there are when non-planar form, for example, each one end of two plates carries out the bending of certain radian, then two plates are bent
Part carry out docking form docking location 13, butted part is in non-planar form at this time, is radiated at laser stripe above
Corresponding distortion occurring according to the configuration of surface of workpiece, the structure light 14 of distortion can generate diffusing reflection on welding workpiece surface,
Reflected light can be received by industrial camera 22 and is imaged.
Further, the system also includes: optical filter 24, protection eyeglass 25 and light barrier 26, the protection eyeglasses 25
And optical filter 24 successively set in the reflection light optical path and between the industrial camera 22 and welding workpiece 11, separately
Outside, it also directly is provided with protection eyeglass 25 in laser 21 and welding workpiece 11, the protection eyeglass 25 is prevented in welding process
It splashes and flue dust damages optical filter 24 with laser, the optical filter 24 is to prevent in welding process veiling glare to structure light
The interference of image, the light barrier 26 set with 21 side of laser, welded for blocking other welding workpieces
Veiling glare, splashing, flue dust in journey etc. impact this welding.
The controller 27 includes:
Receiving module, the laser beam sent for industrial camera are radiated at the structure light and formation that docking location reflects
Image.It should be noted that receiving module carries out identification judgement to image first when receiving image, judges whether it is and meet structure
Light image mode, returns if not meeting and receives again.
Image processing module obtains the structural light stripes skeleton being made of single pixel for being handled described image.
Extraction module, for extracting the docking location area in described image according to the structural light stripes skeleton
The characteristic point in domain obtains coordinate of the docking location in described image.
Computing module, for carrying out the reality that docking location is calculated in offset to the docking location coordinate in described image
Border coordinate.
The present invention solves the problems, such as the position inaccurate of the docking location among the welding workpiece folded in the prior art, leads to
Localization method of the invention is crossed, positioning accuracy is improved, is conducive to subsequent welding operation, improves the quality of welding.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of weld and HAZ method, for the positioning to the docking location between welding workpiece characterized by comprising
Industrial camera reception laser beam is radiated at the structure light that docking location reflects and forms image；
Described image is handled to obtain the structural light stripes skeleton being made of single pixel；
According to the structural light stripes skeleton, the characteristic point in the docking location region is extracted in described image, is obtained pair
Connect coordinate of the position in described image；
The actual coordinate that docking location is calculated in offset is carried out to the docking location coordinate in described image.
2. the method according to claim 1, wherein
Described image is made of a hot spot striped jaggy, and the notch is then the docking location.
3. according to the method described in claim 2, it is characterized in that, described handled to obtain by single pixel structure to described image
At structural light stripes skeleton the step of, specifically include:
Effective coverage in described image is extracted, and targets improvement processing is carried out to the image after extraction, to clearly be schemed
Picture；
Be converted to the structural light stripes skeleton that an each column only includes a pixel to described image.
4. according to the method described in claim 3, it is characterized in that, effective coverage in the extraction described image, and to extraction
Image afterwards carries out targets improvement processing, so that the step of obtaining clearly image includes:
Successively described image is filtered, the processing of binaryzation and morphology opening operation, to obtain clear clearly demarcated image.
5. according to the method described in claim 3, it is characterized in that, described be converted to an each column only to described image
Include the steps that the structural light stripes skeleton an of pixel specifically includes:
The pixel of each column of described image is scanned from top to bottom, determines upper and lower ends point in each column of described image
Coordinate；
Using the middle position of each column two-end-point as target point, the knot being made of several target points is thus obtained
Structure striations skeleton.
6. according to the method described in claim 2, it is characterized in that, described according to the structural light stripes skeleton, in the figure
The step of extracting the characteristic point in the docking location region as in, obtaining coordinate of the docking location in described image, specifically
Include:
The two-end-point position of notch on the structural light stripes skeleton is obtained, the two-end-point is as characteristic point；
Derivative is solved with the slight distance of relative direction to the characteristic point respectively and does two tangent lines, wherein two tangent line phases
It hands over；
The coordinate for calculating two tangent line crosspoints, obtains coordinate of the docking location in described image.
7. according to the method described in claim 6, it is characterized in that, the docking location coordinate in described image carries out partially
The step of actual coordinate of docking location is calculated in shifting amount, specifically includes:
A default plane of reference, the plane of reference are parallel with actual welding workpiece surface；
Obtain angle α, the industrial camera imaging surface of reflection light and incident ray that laser beam emits in the plane of reference
The angle β of the reflection light reflected with the plane of reference, the plane of reference surface incidence luminous point are into industrial camera lens
The distance of imaging point of the distance l1 of the heart and industrial camera lens centre to industrial camera imaging surface is l2；
Calculate the position while welding height offset:
Wherein, Δ H is the offset of the relatively described plane of reference height of welding workpiece, and Δ h reflects anti-for the plane of reference
The light reflection light that picture point and the welding workpiece reflect on industrial camera imaging surface is penetrated in industrial camera imaging surface
On the distance between picture point.
8. method according to claim 6 or 7, which is characterized in that described to carry out offset to the docking location coordinate
The step of docking location between actual welding workpiece is calculated, comprising:
A default reference zone, the reference zone is region of the laser vertical irradiation in the welding workpiece；
Obtain the angle α of the reflection light and incident ray that are reflected on the reference zone of laser beam, industrial camera at
The angle β for the reflection light that image planes are reflected with the reference zone, the reference zone incidence luminous point are saturating to industrial camera
The distance of imaging point of the distance l1 at mirror center and industrial camera lens centre to industrial camera imaging surface is l2；
Calculate the offset of the position while welding horizontal direction:
Wherein, Δ W is the offset of welding workpiece surface level, and Δ w is that the reflection light that the reference zone reflects exists
Picture point of the reflection light that picture point and the welding workpiece reflect on industrial camera imaging surface on industrial camera imaging surface
The distance between.
9. a kind of system applied to weld and HAZ characterized by comprising
Laser；
Industrial camera, the industrial camera and the laser are in the same plane, and with welding workpiece triangle at an acute angle
Posture, the reflection light that the docking location that the laser beam of the laser transmitting is radiated between the welding workpiece reflects
It falls into industrial camera, to form structure light image；
Camera lens, for being focused to laser beam, the camera lens are set in the optical path of the reflection light, and are located at
Between the industrial camera and welding workpiece；
Controller, the controller and the industrial camera communication connection receive the structure light image that the industrial camera is sent
And it is handled.
10. system according to claim 9, which is characterized in that the controller includes
Receiving module, the laser beam sent for industrial camera are radiated at the structure light and formation figure that docking location reflects
Picture；
Image processing module obtains the structural light stripes skeleton being made of single pixel for being handled described image；
Extraction module, for extracting the docking location region in described image according to the structural light stripes skeleton
Characteristic point obtains coordinate of the docking location in described image；
Computing module, for carrying out the practical seat that docking location is calculated in offset to the docking location coordinate in described image
Mark.
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| CN201811120295.0A CN109202284A (en) | 2018-09-26 | 2018-09-26 | A kind of weld and HAZ method and the system applied to weld and HAZ |
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| CN109986172A (en) * | 2019-05-21 | 2019-07-09 | 广东工业大学 | A kind of weld and HAZ method, equipment and system |
| CN111451623A (en) * | 2020-05-26 | 2020-07-28 | 上海法信机电设备制造有限公司 | Plasma welding seam tracking device |
| CN114298964A (en) * | 2021-10-08 | 2022-04-08 | 厦门微亚智能科技有限公司 | Lithium battery module busbar welding line appearance detection algorithm and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109986172A (en) * | 2019-05-21 | 2019-07-09 | 广东工业大学 | A kind of weld and HAZ method, equipment and system |
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| CN111451623A (en) * | 2020-05-26 | 2020-07-28 | 上海法信机电设备制造有限公司 | Plasma welding seam tracking device |
| CN111451623B (en) * | 2020-05-26 | 2021-04-27 | 上海法信机电设备制造有限公司 | Plasma welding seam tracking device |
| CN114298964A (en) * | 2021-10-08 | 2022-04-08 | 厦门微亚智能科技有限公司 | Lithium battery module busbar welding line appearance detection algorithm and system |
| CN114298964B (en) * | 2021-10-08 | 2022-12-02 | 厦门微亚智能科技有限公司 | Lithium battery module busbar welding line appearance detection algorithm and system |
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