CN110736758A - method for determining head weld transillumination arrangement parameters - Google Patents
method for determining head weld transillumination arrangement parameters Download PDFInfo
- Publication number
- CN110736758A CN110736758A CN201910993542.6A CN201910993542A CN110736758A CN 110736758 A CN110736758 A CN 110736758A CN 201910993542 A CN201910993542 A CN 201910993542A CN 110736758 A CN110736758 A CN 110736758A
- Authority
- CN
- China
- Prior art keywords
- ray machine
- transillumination
- axis
- minimum
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
method for determining the transillumination arrangement parameters of the welding seam of end socket includes such steps as calculating the minimal transillumination times of ray machine at different positions to find out the minimal transillumination times and its position, and finding out the position of ray machine with the minimal transillumination times.
Description
Technical Field
The invention belongs to the field of ray detection, and particularly relates to Matlab-based methods for determining head weld transillumination arrangement parameters.
Background
The head is a product part frequently used in aerospace fields and pressure vessel industries, the manufacture process of the convex head is simple, the bearing capacity is better, and the head is most universal, the convex head mainly comprises a hemispherical head, an elliptical head, a butterfly head and the like, the head is mostly made of metal materials such as steel and the like, the surface of the head is a circular arc or an elliptical arc curved surface, because of the design requirement, a hole is usually formed in the center of the top of the head to weld parts such as joints, connecting pipes and the like, the formed welding line is a annular welding line positioned on the curved surface, the normal line of any point on the central line of the width direction of the outer surface of the welding line intersects point on the axis of the head to form conical surfaces.
, under the condition of the prior art, a process maker preliminarily estimates the position and the transillumination frequency of the ray machine by experience, and then optimizes and determines the position and the transillumination frequency of the ray machine through a plurality of transillumination tests, wherein the method only can ensure that the blackness and the image quality meter sensitivity of a welding seam negative meet the standard requirements, the position of the ray machine with the minimum transillumination frequency is difficult to obtain, the determined transillumination frequency is possibly too large to cause low detection efficiency, and the determined transillumination frequency is possibly too small to ensure that the transillumination angle meets the requirements, and the defect and omission occur.
Disclosure of Invention
In order to solve the problem that the ray machine position with the minimum transillumination times is difficult to obtain in the prior art, the invention provides methods for determining the transillumination arrangement parameters of the head weld.
The specific process of the invention is as follows:
A is the intersection point of the normal of any points on the center line of the outer surface of the welding seam in the width direction and the axis of the seal head, B is any point on the center connecting line of the outer surface of the welding seam in the width direction, C is the position of the ray machine, the segment starting point D of the welding seam is the intersection point of the circle formed by the center line of the outer surface of the welding seam in the width direction and the X axis of the coordinate axis, F is the foot from any point B on the circle formed by the center line of the outer surface of the welding seam in the width direction to the X axis of the coordinate axis, and the position C of the ray machine is.
The three-dimensional rectangular coordinate system takes the center of a circle formed by the center line of the width direction of the outer surface of the welding seam as the origin O of the three-dimensional rectangular coordinate system, takes the axis of the seal head as the Z axis, and takes a connecting line between any points of the center line of the width direction of the outer surface of the welding seam and the origin O as the X axis.
And 2, acquiring a welding seam parameter, a ray radiation angle parameter and a transillumination thickness ratio parameter.
The welding line parameters comprise the radius R of a circle formed by the center line of the width direction of the outer surface of the seal head welding line, and the included angle α between the normal of any points on the center line of the width direction of the outer surface of the welding line and the axis of the seal head.
The method for determining the minimum transillumination times N of the ray machine at any position comprises the following steps: when the ratio M is less than or equal to 2, the minimum transillumination time N is 1; when the ratio M is more than 2 and is an integer, the minimum transillumination times N is the ratio M; when the ratio M is greater than 2 and is a non-integer, the minimum transillumination number N is the integer part +1 of the ratio M.
And the ratio M is the ratio of the total number r of the segmented nodes to the number n of the boundary points continuously meeting the constraint condition.
The constraint conditions include:
the constraint ② is the ray radiation angle constraint, ∠ BCF is less than or equal to (β/2), ∠ DCF is less than or equal to β, wherein β is the ray radiation angle of the ray machine.
The specific process for determining the minimum transillumination times N is as follows:
from a weld segment starting point D, dividing a circle formed by a center line in the width direction of the outer surface of the weld into two halves , taking any semicircle, equally dividing the semicircle into a plurality of segments, and enabling the number of the dividing points of each segment to be r.
According to the equation x of a circle formed by the number r of the demarcation points and the central line of the width direction of the outer surface of the welding seam2+y2＝R2Determining eachAnd the coordinate value of the boundary point, wherein X is the coordinate value of the X axis of any points on the circle formed by the center line of the outer surface of the welding seam in the width direction, and Y is the coordinate value of the Y axis of any points on the circle formed by the center line of the outer surface of the welding seam in the width direction.
And II, determining the Z-axis coordinate value of the intersection point A of the normal of any point on the central line of the width direction of the outer surface of the welding seam and the seal head axis according to the radius R of a circle formed by the central line of the width direction of the outer surface of the welding seam and the included angle α between the normal of any point on the central line of the width direction of the outer surface of the welding seam and the seal head axis, wherein the X-axis coordinate value of the point A is 0, and the Y-axis coordinate value is.
And determining the X-axis coordinate value and the Z-axis coordinate value of the point C according to the specific position of the ray machine. The Y-axis coordinate value of the point C is 0.
And III, from a welding seam segmentation starting point D, sequentially using the coordinate value of each demarcation point as the coordinate value of any point B on a circle formed by the center line of the outer surface of the welding seam in the width direction, then calculating ∠ ABC, ∠ BCF and ∠ DCF by using a distance formula of two spatial points, a pythagorean theorem and a cosine theorem according to the coordinate value of the point A, the coordinate value of the point B, the coordinate value of the point C, the coordinate value of the point D and the coordinate value of the point F, and judging whether constraint conditions are met or not, wherein the X-axis coordinate value of the point F is the same as that of the point B, the Y-axis coordinate value of the point F is 0, and the.
And IV, finding the number n of the boundary points continuously meeting the constraint condition from the starting point D of the welding seam segmentation. When the number of the demarcation points N continuously meeting the constraint condition is 0, the method indicates that the current ray machine position C cannot effectively detect the annular welding line 2, the minimum transillumination times N do not exist, and information which cannot be effectively detected is fed back to a user. When the number n of the boundary points continuously meeting the constraint condition is larger than 0, the current ray machine position C can be used for effectively detecting the annular welding line 2, and the calculation ratio is M. And determining the minimum transillumination times N according to the ratio M, and feeding back information capable of being effectively detected and the minimum transillumination times N to the user.
The normal line of any points on the central line of the width direction of the outer surface of the welding seam and the axis of the seal headThe coordinate value of the intersection point a is taken as the coordinate value of the ray machine position. Repeating the process of determining the minimum transillumination times N of the ray machine at any position, and determining the minimum transillumination times N of the ray machine at the point A0。
And 5, determining the ray machine position with the minimum transillumination times in the X-axis direction.
The current position of the ray machine is an A point, and the minimum transillumination frequency of the position is N0. Moving the ray machine by a distance a along the positive direction of the X axis to obtain a new ray machine position Cx1. Repeating the process of determining the minimum number of transillumination N of the ray machine at any position, determining the position C of the ray machinex1Minimum number of transillumination ofx1。
The obtained Nx1And N0Making a comparison if Nx1≤N0Continuing to move the X-ray machine in the positive X-axis direction to obtain a new position C of the X-ray machinex2. Repeating said step 3 to determine the position C of the ray machinex2Minimum number of transillumination ofx2. The obtained Nx2And Nx1Making a comparison if Nx2≤Nx1Continuing to move the ray machine in the positive X-axis direction to obtain a new position of the ray machine; if N is presentx2＞Nx1Or Nx2If not, stopping moving by Nx1Position C ofx1When the new position of the ray machine needs to be obtained, the ray machine is moved by a distance a along the positive X-axis direction to obtain the new position of the ray machine, the minimum transillumination times of a certain new position obtained after the ray machine moves along the X-axis is more than the minimum transillumination times of the first positions, and then the first positions of the new position are taken as the final position C of the ray machinexz。
Or, when N isx1＞N0Or Nx1If not, the X-axis is moved to the negative direction of the X-axis by a distance of 2a to enable the ray machine to be at C-x1Repeating the process of determining the minimum transillumination times N of the ray machine at any position, determining the ray machine at C-x1Minimum number of transillumination N at location-x1. The obtained N-x1And N0Making a comparison if N-x1≤N0The ray machine continues to move for a distance a along the negative direction of the X axis to obtain a new position of the ray machine; if N is present-x1＞N0Or N-x1If not, stopping moving by N0When the minimum transillumination times of a new position obtained after the ray machine moves along the negative direction of the X axis is larger than the minimum transillumination times of the front positions, the front positions of the new position are taken as the final position C of the ray machine-xz。
At this point, the position of the ray machine in the X-axis direction is determined, and the minimum transillumination frequency of the position is Nxz。
And 6, determining the ray machine position with the minimum transillumination times in the Z-axis direction.
The current position of the ray machine is a position CxzOr C-xzThe minimum number of transillumination times of the position is Nxz. The ray machine moves a distance a along the positive direction of the Z axis to obtain a new ray machine position Cz1. Repeating the process of determining the minimum number of transillumination N of the ray machine at any position, determining the position C of the ray machinez1Minimum number of transillumination ofz1。
The obtained Nz1And NxzMaking a comparison if Nz1≤NxzContinuing to move the ray machine in the positive Z-axis direction to obtain a new position C of the ray machinez2. Repeating said step 3 to determine the position C of the ray machinez2Minimum number of transillumination ofz2. The obtained Nz2And Nz1Making a comparison if Nz2≤Nz1Continuing to move the ray machine in the positive Z-axis direction to obtain a new position of the ray machine; if N is presentz2＞Nz1Or Nz2If not, stopping moving by Nz1Position C ofz1The point serves as the final position of the ray machine. And when the new position of the ray machine needs to be obtained, continuously moving the ray machine along the Z axis by the distance a to obtain the new position of the ray machine. By movement of the ray machine along the Z-axisIf the minimum transillumination times of a new position obtained after movement is more than the minimum transillumination times of the first positions, the first positions of the new position are taken as the final position C of the ray machinezz。
Or, when N isz1＞NxzOr Nz1If not, the ray machine is moved to the negative direction of the Z axis by a distance of 2a to enable the ray machine to be positioned at C-z1Repeating said step 3, determining that the ray machine is at C-z1Minimum number of transillumination N at location-z1. The obtained N-z1And NxzMaking a comparison if N-z1≤NxzThe ray machine continues to move for a distance a along the Z-axis negative direction to obtain a new position of the ray machine; if N is present-z1＞NxzOr N-z1If not, stopping moving by NxzPosition C ofxzOr C-xzWhen the minimum transillumination times of a new position obtained by moving the ray machine along the Z-axis negative direction is larger than the minimum transillumination times of the front positions, the front positions of the new position are taken as the final position C of the ray machine-zz。
So far, the position of the ray machine in the Z-axis direction is determined, and the minimum transillumination frequency of the position is Nzz。
And 7, finely adjusting the position of the ray machine with the minimum transillumination times.
The fine adjustment is to adjust the position of the ray machine in the X-axis direction and the Z-axis direction.
And when the ray machine position with the minimum transillumination times is finely adjusted, adjusting the moving distance a' of the ray machine to be 5 mm.
To pass through the final position C of the ray machine determined in step 6zzOr C-zzRepeating the step 5 for the current position of the ray machine, determining the minimum transillumination times of different positions of the ray machine when the X-axis changes, and obtaining the minimum transillumination times N'xz。
With minimum transillumination times N'xzThe corresponding position is taken as the current position of the ray machine, the step 6 is repeated, and the ray machine is determined to be in different positions when the Z axis changesObtaining the minimum transillumination times N'zz。
Resulting minimum number of transillumination N'zzThe corresponding position is the position of the ray machine at the minimum transillumination times.
And determining the head welding seam transillumination arrangement parameters.
According to the invention, through the transillumination angles of different positions on the end socket welding line at the current set position, the minimum transillumination times of the current ray machine position is given under the condition of comprehensively considering factors such as the transillumination angle, the ray radiation angle and the like. The method obtains the change rule of the minimum transillumination times along with the position of the ray machine by calculating the minimum transillumination times of the ray machine at different positions, thereby finding the minimum transillumination times and the position of the ray machine.
The invention constructs three-dimensional rectangular coordinate systems related to the positions of a welding line and a ray machine, divides the welding line into a plurality of sections, sets points as starting points of transillumination, calculates the transillumination angle and the required ray radiation angle of each welding line section end point by using a cosine theorem and a distance formula of two spatial points in matlab software, and calculates the continuous welding line end points meeting the transillumination requirement by comparing with corresponding constraint conditions, thereby obtaining the effective length of the welding line of times of transillumination and calculating the minimum transillumination times of the current ray machine position.
Drawings
FIG. 1 is a schematic structural view of a circular weld at the center of the top of an elliptical head in an embodiment;
FIG. 2 is a schematic structural view of a circular weld at the center of the top of the butterfly head in the embodiment;
FIG. 3 is a schematic diagram of a circular weld at the center of the top of the hemispherical head in an exemplary embodiment;
FIG. 4 is a schematic top view of the head with a circumferential weld at the top center;
FIG. 5 is a rectangular coordinate system established by an exemplary embodiment;
fig. 6 is a flow chart of the present invention.
In the figure:
1. the welding head comprises a sealing head, 2. an annular welding line, 3. a center line of the width direction of the outer surface of the welding line, 4. a normal line of any points on the center line of the width direction of the outer surface of the welding line, and 5. an axis of the sealing head.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The embodiment is Matlab-based seal head weld transillumination arrangement parameter selection methods, and is applicable to the circular weld 2 of the seal head 1 of the conventional shell, including hemispherical, butterfly-shaped and elliptical seal heads 1.
The specific process of this embodiment is:
The three-dimensional rectangular coordinate system takes the center of a circle formed by a center line 3 in the width direction of the outer surface of the welding seam as an origin O, takes a seal head axis 5 as a Z axis, and takes a connecting line between any points of the center line in the width direction of the outer surface of the welding seam and the origin O as an X axis.
A is set as the intersection point of a normal 4 of any points on the central line of the outer surface of the welding seam in the width direction and the seal head axis 5, B is any point on the central connecting line of the outer surface of the welding seam in the width direction, C is the position of an ray machine, the segment starting point D of the welding seam is the intersection point of a circle formed by the central line of the outer surface of the welding seam in the width direction and the X axis of the coordinate axis, F is the foot from any point B on the circle formed by the central line 3 of the outer surface of the welding seam in the width direction to the X axis of the coordinate axis, and the position C of the ray machine.
And 2, acquiring a welding seam parameter, a ray radiation angle parameter and a transillumination thickness ratio parameter.
The welding seam parameters are obtained through a design drawing, and comprise the radius R of a circle formed by the center line of the width direction of the outer surface of the welding seam of the seal head 1, and the included angle α between the normal 4 of any points on the center line of the width direction of the outer surface of the welding seam and the axis 5 of the seal head.
The ray radiation angle β of the ray machine is obtained through the specifications of the ray machine.
And obtaining a transillumination thickness ratio K of the welding line detection according to the design requirements of the product.
In this embodiment, the radius R of a circle formed by the center line of the outer surface of the weld in the width direction is 320.15mm, the included angle α between the normal 4 of any point on the center line of the outer surface of the weld in the width direction and the seal head axis 5 is 40 °, the radiation angle β of the ray machine is 40 °, and the design requirement transillumination thickness ratio K is 1.01.
The specific process for determining the minimum transillumination times N of the ray machine at any position comprises the following steps:
from a weld segment starting point D, dividing a circle formed by a center line in the width direction of the outer surface of the weld into two halves , taking any semicircle, equally dividing the semicircle into a plurality of segments, and enabling the number of the dividing points of each segment to be r.
According to the equation x of a circle formed by the number r of the demarcation points and the central line of the width direction of the outer surface of the welding seam2+y2＝R2And determining the coordinate value of each boundary point, wherein X is the X-axis coordinate value of any points on a circle formed by the center line of the outer surface of the welding seam in the width direction, and Y is the Y-axis coordinate value of any points on the circle formed by the center line of the outer surface of the welding seam in the width direction.
In this embodiment, the ith demarcation point has an X-axis coordinate value of R × cos [180 × (i-1)/(R-1) ], a Y-axis coordinate value of R × sin [180 × (i-1)/(R-1) ], and a Z-axis coordinate value of 0. the segmentation start point D is the demarcation point, which has an X-axis coordinate value of 320.15, a Y-axis coordinate value of 0, and a Z-axis coordinate value of 0.
And II, according to the radius R of a circle formed by the center line of the outer surface of the welding seam in the width direction and the included angle α between the normal 4 of any point on the center line of the outer surface of the welding seam in the width direction and the seal head axis 5, determining the Z-axis coordinate value of the intersection point A of the normal 4 of any point on the center line 3 of the outer surface of the welding seam in the width direction and the seal head axis 5, wherein the X-axis coordinate value of the point A is 0, and the Y-axis coordinate.
And determining the X-axis coordinate value and the Z-axis coordinate value of the point C according to the specific position of the ray machine. The Y-axis coordinate value of the point C is 0.
And III, from a welding seam segmentation starting point D, sequentially using the coordinate value of each demarcation point as the coordinate value of any point B on a circle formed by the center line of the outer surface of the welding seam in the width direction, then calculating ∠ ABC, ∠ BCF and ∠ DCF by using a distance formula of two spatial points, a pythagorean theorem and a cosine theorem according to the coordinate value of the point A, the coordinate value of the point B, the coordinate value of the point C, the coordinate value of the point D and the coordinate value of the point F, and judging whether constraint conditions are met or not, wherein the X-axis coordinate value of the point F is the same as that of the point B, the Y-axis coordinate value of the point F is 0, and the.
The constraint conditions include:
the constraint ② is the ray radiation angle constraint, ∠ BCF is less than or equal to (β/2), ∠ DCF is less than or equal to β, wherein β is the ray radiation angle of the ray machine.
And IV, finding the number n of the boundary points continuously meeting the constraint condition from the starting point D of the welding seam segmentation. When the number of the demarcation points N continuously meeting the constraint condition is 0, the method indicates that the current ray machine position C cannot effectively detect the annular welding line 2, the minimum transillumination times N do not exist, and information which cannot be effectively detected is fed back to a user. When the number n of the boundary points continuously meeting the constraint condition is larger than 0, the current ray machine position C can be used for effectively detecting the annular welding line 2, and the calculation ratio is M. And determining the minimum transillumination times N according to the ratio M, and feeding back information capable of being effectively detected and the minimum transillumination times N to the user.
And the ratio M is the ratio of the total number r of the segmented nodes to the number n of the boundary points continuously meeting the constraint condition.
The method for determining the minimum transillumination times N comprises the following steps: when the ratio M is less than or equal to 2, the minimum transillumination time N is 1; when the ratio M is more than 2 and is an integer, the minimum transillumination times N is the ratio M; when the ratio M is greater than 2 and is a non-integer, the minimum transillumination number N is the integer part + 1 of the ratio M.
Taking the coordinate value of the intersection point A of the normal 4 of any points on the central line of the width direction of the outer surface of the welding seam and the seal head axis 5 as the coordinate value of the ray machine position, repeating the step 3, and determining the minimum transillumination times N of the ray machine position C at the point A0。
And step five, determining the ray machine position with the minimum transillumination times in the X-axis direction.
The current position of the ray machine is an A point, and the minimum transillumination frequency of the position is N0. Moving the ray machine by a distance a along the positive direction of the X axis to obtain a new ray machine position Cx1. Repeating said step 3 to determine the position C of the ray machinex1Minimum number of transillumination ofx1。
The obtained Nx1And N0Making a comparison if Nx1≤N0Continuing to move the X-ray machine in the positive X-axis direction to obtain a new position C of the X-ray machinex2. Repeating said step 3 to determine the position C of the ray machinex2Minimum number of transillumination ofx2. The obtained Nx2And Nx1Making a comparison if Nx2≤Nx1Continuing to move the ray machine in the positive X-axis direction to obtain a new position of the ray machine; if N is presentx2＞Nx1Or Nx2If not, stopping moving by Nx1Position C ofx1When the new position of the ray machine needs to be obtained, the ray machine is moved by a distance a along the positive X-axis direction to obtain the new position of the ray machine, the minimum transillumination times of a certain new position obtained after the ray machine moves along the X-axis is more than the minimum transillumination times of the first positions, and then the first positions of the new position are taken as the final position C of the ray machinexz。
Or, when N isx1＞N0Or Nx1If not, the X-axis is moved to the negative direction of the X-axis by a distance of 2a to enable the ray machine to be at C-x1Repeating said step 3, determining that the ray machine is at C-x1Minimum number of transillumination N at location-x1. The obtained N-x1And N0Making a comparison if N-x1≤N0The ray machine continues to move for a distance a along the negative direction of the X axis to obtain a new position of the ray machine; if N is present-x1＞N0Or N-x1If not, stopping moving by N0When the minimum transillumination times of a new position obtained after the ray machine moves along the negative direction of the X axis is larger than the minimum transillumination times of the front positions, the front positions of the new position are taken as the final position C of the ray machine-xz。
In this embodiment, the X-axis movement distance a of the ray machine is 20 mm.
At this point, the position of the ray machine in the X-axis direction is determined, and the minimum transillumination frequency of the position is Nxz。
And 6, determining the ray machine position with the minimum transillumination times in the Z-axis direction.
The current position of the ray machine is a position CxzOr C-xzThe minimum number of transillumination times of the position is Nxz. The ray machine moves a distance a along the positive direction of the Z axis to obtain a new ray machine position Cz1. Repeating said step 3 to determine the position C of the ray machinez1Minimum number of transillumination ofz1。
The obtained Nz1And NxzMaking a comparison if Nz1≤NxzContinuing to move the ray machine in the positive Z-axis direction to obtain a new position C of the ray machinez2. Repeating said step 3 to determine the position C of the ray machinez2Minimum number of transillumination ofz2. The obtained Nz2And Nz1Making a comparison if Nz2≤Nz1Continuing to move the ray machine in the positive Z-axis direction to obtain a new position of the ray machine; if N is presentz2＞Nz1Or Nz2If not, stopping moving by Nz1Position C ofz1When the new position of the ray machine needs to be obtained, the ray machine is continuously moved along the Z axis by the distance a to obtain the new position of the ray machine, the minimum transillumination times of a certain new position obtained after the ray machine moves along the Z axis is more than the minimum transillumination times of the first positions, and then the first positions of the new position are taken as the final position C of the ray machinezz。
Or, when N isz1＞NxzOr Nz1If not, the ray machine is moved to the negative direction of the Z axis by a distance of 2a to enable the ray machine to be positioned at C-z1Repeating said step 3, determining that the ray machine is at C-z1Minimum number of transillumination N at location-z1. The obtained N-z1And NxzMaking a comparison if N-z1≤NxzThe ray machine continues to move for a distance a along the Z-axis negative direction to obtain a new position of the ray machine; if N is present-z1＞NxzOr N-z1If not, stopping moving by NxzPosition C ofxzOr C-xzWhen the minimum transillumination times of a new position obtained by moving the ray machine along the Z-axis negative direction is larger than the minimum transillumination times of the front positions, the front positions of the new position are taken as the final position C of the ray machine-zz。
In this embodiment, the movement distance a of the ray machine along the Z-axis is 20 mm.
To this end, the position of the ray machine in the Z-axis direction is determined, the minimum penetration of whichNumber of times of irradiation is Nzz。
And 7, finely adjusting the position of the ray machine with the minimum transillumination times.
The fine adjustment is to adjust the position of the ray machine in the X-axis direction and the Z-axis direction.
And when the ray machine position with the minimum transillumination times is finely adjusted, adjusting the moving distance a' of the ray machine to be 5 mm.
To pass through the final position C of the ray machine determined in step 6zzOr C-zzRepeating the step five for the current position of the ray machine, and determining the minimum transillumination times of different positions of the ray machine when the X axis changes to obtain the minimum transillumination times N'xz。
With minimum transillumination times N'xzThe corresponding position is used as the current position of the ray machine, the step 6 is repeated, the minimum transillumination times of different positions of the ray machine are determined when the Z axis changes, and the minimum transillumination times N 'are obtained'zz。
Resulting minimum number of transillumination N'zzThe corresponding position is the position of the ray machine at the minimum transillumination times.
The coordinate of the ray machine position C finally determined in the embodiment is (-126, 582), the transillumination times under the ray machine position is 8, through calculation, the minimum transillumination angle of effective transillumination areas under the ray machine position is 2.6 degrees, the maximum transillumination angle is 7.8 degrees, the transillumination angle meets the requirement that the transillumination thickness ratio does not exceed 1.01, and the required ray radiation angle is 40 degrees and does not exceed the ray radiation angle of the used ray machine.
The embodiments are applicable to the circular weld 2 at the top center of the hemispherical, butterfly and elliptical heads 1 shown in fig. 1, 2 and 3.
According to the embodiment, under the condition that a process maker does not perform calculation, by means of the data processing function of Matlab, under the condition that the transillumination angle and the ray radiation angle are considered, the influence rule of the ray machine position on the minimum transillumination times is intuitively mastered by changing the set value of the ray machine position, so that the ray machine position with the minimum transillumination times is found out quickly, the rationality of selection of transillumination arrangement parameters such as the ray machine position and the transillumination times is greatly improved, the reliability of the detection result of the end socket welding seam is improved, and the detection efficiency is improved to the maximum extent.
Claims (5)
1, method for determining head weld transillumination arrangement parameters, which is characterized in that the specific process is as follows:
step 1, determining the relative position relationship between a welding line and an X-ray machine:
setting A as the intersection point of the normal of any points on the center line of the outer surface of the welding seam in the width direction and the seal head axis, B as any point on the center connecting line of the outer surface of the welding seam in the width direction, C as the position of an ray machine, a welding seam segmentation starting point D as the intersection point of a circle formed by the center line of the outer surface of the welding seam in the width direction and the coordinate axis X, F as the foot from any point B on the circle formed by the center line of the outer surface of the welding seam in the width direction to the coordinate axis X, and the position C of the ray machine in a plane determined by the coordinate axis X and;
step 2, obtaining a welding seam parameter, a ray radiation angle parameter and a transillumination thickness ratio parameter;
step 3, determining the minimum transillumination times N of the ray machine at any position:
the method for determining the minimum transillumination times N of the ray machine at any position comprises the following steps: when the ratio M is less than or equal to 2, the minimum transillumination time N is 1; when the ratio M is more than 2 and is an integer, the minimum transillumination times N is the ratio M; when the ratio M is greater than 2 and is a non-integer, the minimum transillumination times N is the integer part +1 of the ratio M;
the ratio M is the ratio of the total number r of the segmented nodes to the number n of the boundary points continuously meeting the constraint condition;
step 4, determining the minimum transillumination times N of the ray machine at the point A0：
Taking the coordinate value of the intersection point A of the normal of any points on the central line of the outer surface of the welding seam in the width direction and the seal head axis as the coordinate value of the ray machine position, repeating the process of determining the minimum transillumination times N of the ray machine at any position, and determining the minimum transillumination times N of the ray machine at the point A when the ray machine position C is at any position0；
Step 5, determining the ray machine position with the least transillumination times in the X-axis direction:
the current position of the ray machine is an A point, and the minimum transillumination frequency of the position is N0(ii) a Moving the ray machine by a distance a along the positive direction of the X axis to obtain a new ray machine position Cx1(ii) a Repeating the process of determining the minimum number of transillumination N of the ray machine at any position, determining the position C of the ray machinex1Minimum number of transillumination ofx1；
The obtained Nx1And N0Making a comparison if Nx1≤N0Continuing to move the X-ray machine in the positive X-axis direction to obtain a new position C of the X-ray machinex2(ii) a Repeating said step 3 to determine the position C of the ray machinex2Minimum number of transillumination ofx2(ii) a The obtained Nx2And Nx1Making a comparison if Nx2≤Nx1Continuing to move the ray machine in the positive X-axis direction to obtain a new position of the ray machine; if N is presentx2＞Nx1Or Nx2If not, stopping moving by Nx1Position C ofx1Taking the point as the final position of the ray machine, moving the ray machine by a distance a along the positive direction of the X-axis to obtain the new position of the ray machine when the new position of the ray machine needs to be obtained, and taking the front positions of the new position as the final position C of the ray machine when the minimum transillumination times of the new position obtained by moving the ray machine along the X-axis is more than the minimum transillumination times of the front positionsxz；
Or, when N isx1＞N0Or Nx1If not, the X-axis is moved to the negative direction of the X-axis by a distance of 2a to enable the ray machine to be at C-x1Repeating the process of determining the minimum transillumination times N of the ray machine at any position, determining the ray machine at C-x1Minimum number of transillumination N at location-x1(ii) a The obtained N-x1And N0Making a comparison if N-x1≤N0The ray machine continues to move for a distance a along the negative direction of the X axis to obtain a new position of the ray machine; if N is present-x1＞N0Or N-x1If not, stopping moving by N0At position A asThe minimum transillumination times of a new position obtained by the movement of the ray machine along the negative direction of the X axis are more than the minimum transillumination times of the front positions, and then the front positions of the new position are taken as the final position C of the ray machine-xz(ii) a At this point, the position of the ray machine in the X-axis direction is determined, and the minimum transillumination frequency of the position is Nxz；
Step 6, determining the ray machine position with the minimum transillumination times in the Z-axis direction:
the current position of the ray machine is a position CxzOr C-xzThe minimum number of transillumination times of the position is Nxz(ii) a The ray machine moves a distance a along the positive direction of the Z axis to obtain a new ray machine position Cz1(ii) a Repeating the process of determining the minimum number of transillumination N of the ray machine at any position, determining the position C of the ray machinez1Minimum number of transillumination ofz1；
The obtained Nz1And NxzMaking a comparison if Nz1≤NxzContinuing to move the ray machine in the positive Z-axis direction to obtain a new position C of the ray machinez2(ii) a Repeating said step 3 to determine the position C of the ray machinez2Minimum number of transillumination ofz2(ii) a The obtained Nz2And Nz1Making a comparison if Nz2≤Nz1Continuing to move the ray machine in the positive Z-axis direction to obtain a new position of the ray machine; if N is presentz2＞Nz1Or Nz2If not, stopping moving by Nz1Position C ofz1The method comprises the steps of obtaining a point as a final position of the ray machine, continuously moving the ray machine along the Z axis by a distance a to obtain a new position of the ray machine when the new position of the ray machine needs to be obtained, obtaining the minimum transillumination times of a certain new position which is obtained after the ray machine moves along the Z axis and is more than the minimum transillumination times of the first positions, and taking the first positions of the new position as the final position C of the ray machinezz；
Or, when N isz1＞NxzOr Nz1If not, the ray machine is moved to the negative direction of the Z axis by a distance of 2a to ensure that the ray machine is positionedIn C-z1Repeating said step 3, determining that the ray machine is at C-z1Minimum number of transillumination N at location-z1(ii) a The obtained N-z1And NxzMaking a comparison if N-z1≤NxzThe ray machine continues to move for a distance a along the Z-axis negative direction to obtain a new position of the ray machine; if N is present-z1＞NxzOr N-z1If not, stopping moving by NxzPosition C ofxzOr C-xzWhen the minimum transillumination times of a new position obtained by the movement of the ray machine along the Z-axis negative direction is larger than the minimum transillumination times of the front positions, the front positions of the new position are taken as the final position C of the ray machine-zz；
So far, the position of the ray machine in the Z-axis direction is determined, and the minimum transillumination frequency of the position is Nzz；
Step 7, fine-tuning the position of the ray machine with the minimum transillumination times:
the fine adjustment is to adjust the position of the ray machine in the X-axis direction and the Z-axis direction;
when the position of the ray machine with the minimum transillumination times is finely adjusted, the moving distance a' of the ray machine is adjusted to be 5 mm;
to pass through the final position C of the ray machine determined in step 6zzOr C-zzRepeating the step 5 for the current position of the ray machine, determining the minimum transillumination times of different positions of the ray machine when the X-axis changes, and obtaining the minimum transillumination times N'xz(ii) a With minimum transillumination times N'xzThe corresponding position is used as the current position of the ray machine, the step 6 is repeated, the minimum transillumination times of different positions of the ray machine are determined when the Z axis changes, and the minimum transillumination times N 'are obtained'zz；
Resulting minimum number of transillumination N'zzThe corresponding position is the position of the ray machine at the minimum transillumination times;
and determining the head welding seam transillumination arrangement parameters.
2. The method for determining the head weld transillumination arrangement parameters as claimed in claim 1, wherein the center of a circle formed by the center line of the width direction of the outer surface of the weld is taken as the origin O of a three-dimensional rectangular coordinate system, the axis of the head is taken as the Z axis, a connecting line between any points of the center line of the width direction of the outer surface of the weld and the origin O is taken as the X axis, and the plane where the circle formed by the center line of the width direction of the outer surface of the weld is located is an XY plane.
3. The method for determining the trans-illumination arrangement parameters of the head weld according to claim 1, wherein the weld parameters comprise the radius R of a circle formed by the center line of the width direction of the outer surface of the head weld, and the included angle α between the normal of any points on the center line of the width direction of the outer surface of the weld and the axis of the head.
4. The method for determining the head weld transillumination arrangement parameters of claim 1, wherein the constraints comprise:
the constraint condition ① is a transillumination angle constraint condition, wherein the transillumination angle theta is ∠ ABC and is less than or equal to acos (1/K), and K is a transillumination thickness ratio;
the constraint condition ② is a ray radiation angle constraint condition, ∠ BCF is less than or equal to (β/2), ∠ DCF is less than or equal to β, wherein β is the ray radiation angle of the ray machine.
5. The method for determining the head weld transillumination arrangement parameters as claimed in claim 1, wherein the specific process for determining the minimum transillumination times N is as follows:
dividing a circle formed by a center line in the width direction of the outer surface of a welding seam into halves from a starting point D of the welding seam segmentation, taking any semicircle, equally dividing the semicircle into a plurality of segments, and enabling the number of boundary points of each segment to be r;
in this example r-320;
according to the equation x of a circle formed by the number r of the demarcation points and the central line of the width direction of the outer surface of the welding seam2+y2＝R2Determining the coordinate value of each demarcation point; wherein x is the center line of the width direction of the outer surface of the weldThe X-axis coordinate value of any points on the formed circle, and Y is the Y-axis coordinate value of any points on the formed circle by the center line of the outer surface of the welding seam in the width direction;
II, determining the Z-axis coordinate value of the intersection point A of the normal of any point on the central line of the width direction of the outer surface of the welding seam and the seal head axis according to the radius R of a circle formed by the central line of the width direction of the outer surface of the welding seam and the included angle α between the normal of any point on the central line of the width direction of the outer surface of the welding seam and the seal head axis;
determining the X-axis coordinate value and the Z-axis coordinate value of the point C according to the specific position of the ray machine; the Y-axis coordinate value of the point C is 0;
III, from a welding seam segmentation starting point D, sequentially taking the coordinate value of each demarcation point as the coordinate value of any point B on a circle formed by a center line in the width direction of the outer surface of the welding seam, then calculating ∠ ABC, ∠ BCF and ∠ DCF by using a distance formula of two points in space, a pythagorean theorem and a cosine theorem according to the coordinate value of the point A, the coordinate value of the point B, the coordinate value of the point C, the coordinate value of the point D and the coordinate value of the point F, and judging whether constraint conditions are met or not, wherein the X-axis coordinate value of the point F is the same as that of the point B, the Y-axis coordinate value of the point F is 0, and the;
IV, finding the number n of boundary points continuously meeting the constraint condition from the starting point D of the welding seam segmentation; when the number of the boundary points N continuously meeting the constraint condition is 0, the method indicates that the current ray machine position C cannot effectively detect the annular welding line 2, the minimum transillumination times N do not exist, and information which cannot effectively detect is fed back to a user; when the number n of the boundary points continuously meeting the constraint condition is larger than 0, the current ray machine position C can be used for effectively detecting the annular welding line 2, and the calculated ratio is M; and determining the minimum transillumination times N according to the ratio M, and feeding back information capable of being effectively detected and the minimum transillumination times N to the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910993542.6A CN110736758B (en) | 2019-10-18 | 2019-10-18 | Method for determining head welding seam transillumination arrangement parameters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910993542.6A CN110736758B (en) | 2019-10-18 | 2019-10-18 | Method for determining head welding seam transillumination arrangement parameters |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110736758A true CN110736758A (en) | 2020-01-31 |
| CN110736758B CN110736758B (en) | 2022-04-19 |
Family
ID=69269243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910993542.6A Active CN110736758B (en) | 2019-10-18 | 2019-10-18 | Method for determining head welding seam transillumination arrangement parameters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110736758B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113532342A (en) * | 2021-06-29 | 2021-10-22 | 中石化宁波工程有限公司 | Method for determining central points of upper and lower seal head pipe connecting holes of mixing drum of large-scale mixing equipment |
| CN113702408A (en) * | 2021-09-18 | 2021-11-26 | 中国航空制造技术研究院 | Variable-thickness silicon carbide fiber composite material X-ray detection method |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1237541A (en) * | 1985-04-25 | 1988-05-31 | Endre Bacskai | Video-radiographic procedure and equipment for the quality control of weld seam |
| CN101034072A (en) * | 2007-04-13 | 2007-09-12 | 中国第一重型机械集团大连加氢反应器制造有限公司 | Method and device for confirming irradiation orientation of pressure container weld seam ray detecting ray bundle |
| CN101109627A (en) * | 2007-05-25 | 2008-01-23 | 孔凡琴 | Method for establishing optimum transillumination parameter system of industry digital radial imaging detecting |
| CN101430291A (en) * | 2007-11-06 | 2009-05-13 | 宋全轩 | Double-wall double-projection imaging method in radial detection and its angle controller |
| RU2399908C1 (en) * | 2009-05-04 | 2010-09-20 | Открытое акционерное общество "Ижорские заводы" | Method of measuring size of defects in transillumination direction |
| CN102324255A (en) * | 2011-08-02 | 2012-01-18 | 中国核电工程有限公司 | Thickness compensation method and compensation block for fuel rod end plug welding line X ray transillumination process |
| CN102401805A (en) * | 2010-09-19 | 2012-04-04 | 西安轨道交通装备有限责任公司 | Real time imaging transillumination method and system for tank car |
| CN102608139A (en) * | 2012-03-04 | 2012-07-25 | 茂名重力石化机械制造有限公司 | Radiographic detection method for welding joint of outer tube sleeved with inner tube |
| CN103175898A (en) * | 2013-03-04 | 2013-06-26 | 江苏大学 | Method for detecting average crystal grain size of weld seam by utilizing weld seam characteristic guide waves |
| CN103196928A (en) * | 2013-03-26 | 2013-07-10 | 中国石油天然气集团公司 | X-ray digital nondestructive detection device and method of welding seam of storage tank |
| CN104330424A (en) * | 2014-10-24 | 2015-02-04 | 江苏法尔胜材料分析测试有限公司 | Determination method of trans-illumination section for TKY node fillet weld nondestructive testing |
| CN104698015A (en) * | 2015-02-12 | 2015-06-10 | 重庆旗能电铝有限公司 | Power station boiler membrane panel welding joint blind area X ray detection method |
| CN104865277A (en) * | 2015-05-11 | 2015-08-26 | 四川大学 | Method for automatically identifying pipe weld defect based on double-wall double-projection transillumination image |
| CN105352982A (en) * | 2015-11-23 | 2016-02-24 | 上海航天精密机械研究所 | Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method |
| CN106338529A (en) * | 2016-08-29 | 2017-01-18 | 中航动力股份有限公司 | Radiographic testing method for welding quality of brazed pipe welds |
| CN207703744U (en) * | 2017-12-28 | 2018-08-07 | 北京航天特种设备检测研究发展有限公司 | A kind of Small-diameter Tube Seams ray detection dedicated unit |
| CN109932375A (en) * | 2019-04-23 | 2019-06-25 | 中国石油天然气集团有限公司 | Tube sheet thickness weld seam DR long-focus transillumination sensitivity calibration digital imaging detection method |
| CN110018185A (en) * | 2019-04-04 | 2019-07-16 | 岭澳核电有限公司 | Nuclear power station weld radiographic inspection center exposure device and radiographic inspection method |
-
2019
- 2019-10-18 CN CN201910993542.6A patent/CN110736758B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1237541A (en) * | 1985-04-25 | 1988-05-31 | Endre Bacskai | Video-radiographic procedure and equipment for the quality control of weld seam |
| CN101034072A (en) * | 2007-04-13 | 2007-09-12 | 中国第一重型机械集团大连加氢反应器制造有限公司 | Method and device for confirming irradiation orientation of pressure container weld seam ray detecting ray bundle |
| CN101109627A (en) * | 2007-05-25 | 2008-01-23 | 孔凡琴 | Method for establishing optimum transillumination parameter system of industry digital radial imaging detecting |
| CN101430291A (en) * | 2007-11-06 | 2009-05-13 | 宋全轩 | Double-wall double-projection imaging method in radial detection and its angle controller |
| RU2399908C1 (en) * | 2009-05-04 | 2010-09-20 | Открытое акционерное общество "Ижорские заводы" | Method of measuring size of defects in transillumination direction |
| CN102401805A (en) * | 2010-09-19 | 2012-04-04 | 西安轨道交通装备有限责任公司 | Real time imaging transillumination method and system for tank car |
| CN102324255A (en) * | 2011-08-02 | 2012-01-18 | 中国核电工程有限公司 | Thickness compensation method and compensation block for fuel rod end plug welding line X ray transillumination process |
| CN102608139A (en) * | 2012-03-04 | 2012-07-25 | 茂名重力石化机械制造有限公司 | Radiographic detection method for welding joint of outer tube sleeved with inner tube |
| CN103175898A (en) * | 2013-03-04 | 2013-06-26 | 江苏大学 | Method for detecting average crystal grain size of weld seam by utilizing weld seam characteristic guide waves |
| CN103196928A (en) * | 2013-03-26 | 2013-07-10 | 中国石油天然气集团公司 | X-ray digital nondestructive detection device and method of welding seam of storage tank |
| CN104330424A (en) * | 2014-10-24 | 2015-02-04 | 江苏法尔胜材料分析测试有限公司 | Determination method of trans-illumination section for TKY node fillet weld nondestructive testing |
| CN104698015A (en) * | 2015-02-12 | 2015-06-10 | 重庆旗能电铝有限公司 | Power station boiler membrane panel welding joint blind area X ray detection method |
| CN104865277A (en) * | 2015-05-11 | 2015-08-26 | 四川大学 | Method for automatically identifying pipe weld defect based on double-wall double-projection transillumination image |
| CN105352982A (en) * | 2015-11-23 | 2016-02-24 | 上海航天精密机械研究所 | Rocket storage tank bottom welded seam X-ray digital imaging detection system and detection method |
| CN106338529A (en) * | 2016-08-29 | 2017-01-18 | 中航动力股份有限公司 | Radiographic testing method for welding quality of brazed pipe welds |
| CN207703744U (en) * | 2017-12-28 | 2018-08-07 | 北京航天特种设备检测研究发展有限公司 | A kind of Small-diameter Tube Seams ray detection dedicated unit |
| CN110018185A (en) * | 2019-04-04 | 2019-07-16 | 岭澳核电有限公司 | Nuclear power station weld radiographic inspection center exposure device and radiographic inspection method |
| CN109932375A (en) * | 2019-04-23 | 2019-06-25 | 中国石油天然气集团有限公司 | Tube sheet thickness weld seam DR long-focus transillumination sensitivity calibration digital imaging detection method |
Non-Patent Citations (2)
| Title |
|---|
| 刘海强: "柱面对接环焊缝射线检测最少透照次数分析", 《无损探伤》 * |
| 潘宗田: "45°斜插管座角焊缝射线检测", 《无损探伤》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113532342A (en) * | 2021-06-29 | 2021-10-22 | 中石化宁波工程有限公司 | Method for determining central points of upper and lower seal head pipe connecting holes of mixing drum of large-scale mixing equipment |
| CN113532342B (en) * | 2021-06-29 | 2023-02-10 | 中石化宁波工程有限公司 | Method for determining central points of upper and lower seal head pipe connecting holes of mixing drum of large-scale mixing equipment |
| CN113702408A (en) * | 2021-09-18 | 2021-11-26 | 中国航空制造技术研究院 | Variable-thickness silicon carbide fiber composite material X-ray detection method |
| CN113702408B (en) * | 2021-09-18 | 2024-04-09 | 中国航空制造技术研究院 | X-ray detection method for variable-thickness silicon carbide fiber composite material |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110736758B (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Xiao et al. | An adaptive feature extraction algorithm for multiple typical seam tracking based on vision sensor in robotic arc welding | |
| CN110736758A (en) | method for determining head weld transillumination arrangement parameters | |
| CN110064819B (en) | Cylindrical surface longitudinal weld characteristic region extraction and weld tracking method and system based on structured light | |
| WO2016101643A1 (en) | Meter data read method and system | |
| CN107336230A (en) | A kind of industrial robot collision predicting method based on projection and Distance Judgment | |
| EP0890890A1 (en) | Method and apparatus for preparing data on tool moving path, and machining method and system | |
| US20190323828A1 (en) | Method for detecting shape of butt joint of welded steel pipe, and quality control method and apparatus for welded steel pipes using the shape detecting method | |
| CN111122621B (en) | Method for detecting defect position of workpiece by adopting ray double-wall transillumination technology | |
| Wozniak et al. | A robust method for probe tip radius correction in coordinate metrology | |
| CN107470979A (en) | Taper work embedded SMA actuators aligning method and device | |
| CN110849882A (en) | Equipment and method for identifying, positioning and detecting pipeline welding seam | |
| CN117788574A (en) | Deformation analysis method for surrounding rock of deep-buried tunnel based on three-dimensional laser scanning point cloud | |
| CN110788446A (en) | Attitude-changing real-time welding seam tracking method based on laser sensor | |
| CN113814331A (en) | Intelligent detection method for special-shaped sheet metal parts of automobile production line | |
| CN111102897B (en) | Arc block part fitting analysis method | |
| Wang et al. | Multilayer positioning strategy for tubesheet welding robot based on point cloud model | |
| US10132623B2 (en) | Method for measuring slant wall thickness dimension of hub | |
| CN111795970A (en) | Irregular contour defect detection method | |
| CN207035980U (en) | A kind of flareless pipe joint termination dimension measuring device | |
| Moon et al. | Automatic seam tracking in pipeline welding with narrow groove | |
| US12005539B2 (en) | Self-detecting apparatus for workpiece-origin, mobile machine tool having the same, and method for self-detecting workpiece-origin of mobile machine tool using the mobile machine | |
| Takubo et al. | Welding line detection using point clouds from optimal shooting position | |
| Baskoro et al. | Welding penetration control for aluminum pipe welding using omnidirectional vision-based monitoring of molten pool | |
| US12005531B1 (en) | Method of automatically welding welded seam of saddle line for saddle-type T joint | |
| CN112124525A (en) | Bilge keel installation angle positioning detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |