CN1103264C - 电弧焊线自动追踪用的光学处理方法 - Google Patents

电弧焊线自动追踪用的光学处理方法 Download PDF

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CN1103264C
CN1103264C CN97122708A CN97122708A CN1103264C CN 1103264 C CN1103264 C CN 1103264C CN 97122708 A CN97122708 A CN 97122708A CN 97122708 A CN97122708 A CN 97122708A CN 1103264 C CN1103264 C CN 1103264C
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金在善
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Samsung Electronics Co Ltd
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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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means

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Abstract

一种能抵抗焊接弧光、焊接飞溅及各种杂光所产生的噪声的焊接线追踪用光学处理方法。它进行包括以下各阶段的处理：形成形状记忆弹性轮廓模型阶段、将前述轮廓模型制作的近似于要捕捉的物体的图像并大致放置在被捕捉的物体的图像所应放置的预想位置上的初如化阶段、对应于从前述被捕捉的物体的图像发生的外部力使前述轮廓模型变形的阶段、用该变形的模型导出被捕捉了的物体的图像坐标的阶段。

Description

电弧焊线自动追踪用 的光学处理方法
技术领域
本发明涉及一种电弧焊接工程中的焊线自动追踪用的光学处理技术，特别涉及一种在使用了机器人的电弧焊接工程中，用来获取提供给焊枪控制装置的焊接线位置及形状信息的以使焊枪自动跟踪焊线的焊线自动跟踪的光学传感器及光学处理技术。
背景技术
在使用了机器人的自动焊接工程中，通常使用激光拍摄焊线的形状，然后用电子计算机处理该图像并把焊线的位置及形状信息数字化后，用此来控制焊枪的移动。
在现有技术中，在处理这样的焊线的图像的光学处理技术中，如图5所示，分为三个阶段依次进行。它是由首先用CCD摄像机观测投影在焊枪前端部上的线状的激光带而得到如图5(A)所示的激光带的数据、该激光带的如图5(B)所示的中心座标排列表及把该中心座标组合为数条线而得到的线及其各线间如图5(C)所示的交点一览表组成。这时，图像上的焊接接缝的位置从图5(C)的交点一览表信息中直接获得。
如再详细地说明一下，前述图5(A)的激光带的图像是由CCD摄像机拍摄投影在焊接过程中的焊枪的前端部上的激光带而获得的，图5(B)的激光带中心座标排列表是由使图5(A)中的二维图像数据适用于具有沿图6所示的各垂直座标的加权值分布的激光带检测滤光器。并由在激光带图像中发生最大的输出的许多的点构成。这时，前述激光带的检测滤光器的加权值的和使之为零，在具有规定厚度的明亮带位于水平方向时它表示最大的反应度。而且，从把前述心点排列表组合为多条线的图5(C)的结果可以得到焊接缝的位置及形状。以这样的数据为根据控制焊枪进行电弧焊工作。
这样的现有技术存在如下的问题：它对电焊弧光及焊接飞溅等的焊接噪声反应敏感，在电焊弧光和焊接飞溅的影响大的高输出功率的电焊焊接工程中难以实用。
发明概述
本发明的目的是，为了解决上述的问题。而提供一种能抵抗例如焊接弧光、焊接飞溅及各种杂光的噪声的焊接线追踪用光学传感器和光学处理技术。
为了实现这样的目的，本发明涉及的焊接追踪用光学处理技术，在处理被捕捉到的物体的图像并导出物体的位置及形状信息的光学处理技术中包括：一边维持自己的形状、一边形成具有可以由来自外部的作用力进行形状变化和位置移动的概念的形状记忆弹性轮廓模型的阶段；把该形状记忆弹性轮廓模型制作成近似于想要捕捉的物体的图像之后，把被捕捉到的物体的图像放置在被应该放置的预想位置的初始化阶段；对应于自前述捕捉到的物体产生的外部力使前述形状记忆弹性轮廓模型变形的阶段；从该变形了的模型导出被捕捉到的物体的图像座标的阶段。
最好是，前述形状记忆弹性轮廓线模型包括有：表示固有形状的钢体；相对于前述钢体进行位移运动的弹性滑道；干涉前述滑道的运动的无摩擦滑套；连接前述弹性滑道的质量中心点和前述钢体的油阻尼器，该形状记忆弹性轮廓线模型用于导出物体的位置及形状。
附图的简单说明
图1是表示本发明涉及的光学处理技术中所使用的光学传感器的图。
图2是使用本发明涉及的光学处理追踪激光带的状态的说明图。
图3是作用于弹性轮廓上的外部力的说明图。
图4是使用于本发明涉及的光学处理技术中的形状记忆弹性轮廓模型的说明图。
图5(A)～(C)是现有的光学处理技术的说明图。
图6是现有处理技术中所使用的图像检测滤光器的说明图。
具体实施方式的详细描述
以下，参照附图对本发明的实施例进行说明。附图中，标号10表示发光二极管，标号12表示圆柱形透镜，标号14表示反射镜，标号16表示线形激光，标号18表示焊接试片，标号20表示带通滤波器，标号22表示摄像机透镜，标号24表示CCD摄像机，标号26表示图像上的激光带，标号28表示形状记忆弹性轮廓线，标号30表示外部作用力，标号32表示弹性负载的质量中心，标号34表示无摩擦滑套，标号36表示油阻尼器，标号38表示钢体，以及标号40表示弹性滑道。
如图1所示，本发明涉及的光学处理技术中所使用的光学传感器是由发出激光光束的激光二极管10、制作线形光的圆柱形透镜12、使前述激光的光路变为斜线形状的反射镜14、拍摄前述线形激光16投影的焊接试片18的摄像机24和使前述激光有选择地通过的带通滤光器20组成。即安装在焊接焊枪(图中未示)的一侧的、捕捉焊接线的图像用的本发明涉及的光学传感器装置有CCD摄像机24，该CCD摄像机用于在被线形化了的激光光束16投影在离开焊枪约10～50mm前端部的焊接接缝工作物上时，通过有选择地只透过激光的波长带宽的狭带通滤光器20观察焊接接缝工作物。
用于分离来自用该光学传感器得到的图像的激光带宽的噪声的本发明涉及的光学处理技术，其形状记忆弹性轮廓线28是其核心，该形状记忆弹性轮廓线28具有一边维持自己的形状，一边通过外部作用力30可以产生形状变化及位置移动的概念。即，如图2所示，形状记忆弹性轮廓线28受到导引相当于激光带的明亮区域的力而产生位移及形状变化，最终前述形状记忆轮廓线28在与激光带重合的状态下达到稳定状态，来自激光带的图像噪声被分离。
如图3所示，前述外部作用力30为把弹性轮廓线导引到激光带中心部的作用力。即，如图3(A)所示，位于激光带中心部的弹性轮廓线受到对应于从激光带的中心部到弹性轮廓线的距离如图3(C)所示大小的作用力，如图3(B)所示根据具有典型的明暗分布的激光带图像信息用计算机适当地产生该作用力，其特征是当弹性轮廓线正确地位于激光带的中心部时该作用力为零，随着远离中心部，向激光带方向导引的力变大，当距离大于规定值时，其作用力逐渐地变小。
而且，这样的形状记忆弹性轮廓线28被表现为具有如图4所示的概念的机械性的装置，图4中标号38是表示弹性轮廓线的固有形状的钢体，在从外部对装置不作用任何力时，前述弹性轮廓线28维持固有形状，当从外部作用某些力时，该力和弹性滑道40由无摩擦滑套34约束着，在弹性变形反作用力达到平衡时，维持稳定的状态。
另外，本发明是以分离来自在焊接过程中在焊枪前端部由光学传感器获得的激光带图像中的、表示焊线的轮廓线的激光带的焊接噪声为目的，并从初始化具有前述图4所示的概念的形状记忆弹性轮廓线起步的。该初始化工作是由把弹性轮廓线的固有形状模型作成近似于被投影在CCD摄影机上的焊缝轮廓(即，被投影的激光带的形状)，并大致放置在激光带应被放置的预想位置上的这些工作构成。
由具有适当的弹性特性的弹性滑道40组成的弹性轮廓线28被放置在将要进行的光学处理中被探索的激光带的位置上，在焊接接缝在焊接过程中产生热变形、或由于焊接工件的安装误差焊枪偏离焊线时受到从被摄影的激光带发生的外部作用力而产生变形或进行导引到激光带的周围的位移运动。
在激光带导引的外部力和弹性变形抑制力之间达到均衡时，前述弹性轮廓线的运动停止，从达到均衡的弹性轮廓线获得焊缝轮廓线的信息，在接缝以前的阶段中，把到达正常状态的弹性轮廓设定为下阶段的初始弹性轮廓，在被摄像了的激光带图像中反复进行接缝轮廓线数据的搜索过程，然后，在每次采样期间内所得到的轮廓线数据组合成象原有的设计一样的多条直线后，使用那些直线间的交点座标求得相对于焊枪的焊线的位置。
通过这样的过程获得的焊接线图像信息，被反馈到焊枪控制装置，这样可以进行正确的焊枪的移动。
而且，本发明是作为焊接线追踪用的光学处理技术而被开发的，是一种能适用于追踪随时间的经过而连续地变动的物体的所有装置的光学处理技术。
上述的本发明可以排除焊接过程中所产生的焊接飞溅、电焊弧光及各种杂光的影响，在为恶劣作业条件的高输出功率的电弧焊接工程中可实现高精度的自动焊接，可以实现生产效率的提高及焊接工程的可靠性。

Claims (2)

1.一种用于电弧焊线的自动追踪的光学处理方法，该光学处理方法处理被捕捉到的物体的图像、并导出物体的位置及形状，其特征在于，它进行包括有如下几个阶段的处理：形成具有一边维持自己的形状、一边受到外部的作用力可以产生形状变化及位置移动的概念的形状记忆弹性轮廓线模型的阶段；把该形状记忆弹性轮廓线模型制作为近似于想要捕捉的物体的图像后，放置在所捕捉物体的图像的预想位置上的初始化阶段；对应于从前述被捕捉到的物体的图像产生的外部力使前述形状记忆弹性轮廓线模型变形的阶段；用该变形了的模型导出被捕捉到的物体的图像座标阶段。
2.根据权利要求1所述的光学处理方法，其特征在于，前述形状记忆弹性轮廓线模型包括有：表示固有形状的钢体；相对于前述钢体进行位移运动的弹性滑道；干涉前述滑道的运动的无摩擦滑套；连接前述弹性滑道的质量中心点和前述钢体的油阻尼器，该形状记忆弹性轮廓线模型用于导出物体的位置及形状。
CN97122708A 1996-11-18 1997-11-17 电弧焊线自动追踪用的光学处理方法 Expired - Fee Related CN1103264C (zh)

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