CN111242979A - Three-dimensional space spattering identification and tracking method in laser welding process - Google Patents
Three-dimensional space spattering identification and tracking method in laser welding process Download PDFInfo
- Publication number
- CN111242979A CN111242979A CN202010048245.7A CN202010048245A CN111242979A CN 111242979 A CN111242979 A CN 111242979A CN 202010048245 A CN202010048245 A CN 202010048245A CN 111242979 A CN111242979 A CN 111242979A
- Authority
- CN
- China
- Prior art keywords
- spatter
- laser welding
- tracking
- splash
- welding process
- 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
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000003466 welding Methods 0.000 title claims abstract description 39
- 238000012545 processing Methods 0.000 claims description 34
- 239000000284 extract Substances 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003709 image segmentation Methods 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 238000000605 extraction Methods 0.000 abstract description 4
- 239000002184 metal Substances 0.000 description 19
- 230000005855 radiation Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000000779 smoke Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000000877 morphologic effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000002269 spontaneous effect Effects 0.000 description 2
- 241000764238 Isis Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30152—Solder
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method for identifying and tracking three-dimensional space spatter in a laser welding process, which relates to the field of laser welding and comprises the following steps: obtaining a three-dimensional splashing image, extracting three-dimensional splashing spatial characteristics, and positioning and tracking the flying trajectory of the splashing. The invention improves the success rate of splash recognition and extraction through an image enhancement technology, carries out three-dimensional positioning on the splash by correlating images synchronously obtained by XOZ and YOZ planes, and further tracks the splash motion track by correlating the positions of the splash at different moments to obtain the motion characteristics of the splash.
Description
Technical Field
The invention relates to the field of laser welding, in particular to a method for identifying and tracking three-dimensional space spatter in a laser welding process.
Background
In laser welding, molten metal in the molten pool is impacted by a high-speed metal vapor flow, and drops formed by the molten pool are separated, namely splashed. The generation of spatter is on the one hand an unstable behavior of the weld pool during the laser welding process and on the other hand also an adverse effect on the surface quality of the laser weld seam. Therefore, the spatter generated in the laser welding process is identified and the motion characteristics are extracted from the high-speed photographic image, and the method has important application to online monitoring of the laser welding process, welding stability research and weld surface quality improvement.
In the existing technical scheme, the shape and position of the spatter during the laser welding process are extracted. Such as: l.nicolosi et al, at the university of deluston, choose to directly binarize the image, and the image obtained by this method will binarize the spontaneous emission light generated by the keyhole and the plume and the thermal emission light generated by the splash at the same time, and cannot be distinguished. After the image is directly binarized by grandson swallow and the like at Guangzhou industry university, an image of the metal plume is obtained through an opening operation of corrosion and expansion, and then the image of the metal plume is removed from the binarized image, so that an image of the metal plume splashed outside the metal plume is obtained. The image processing method can effectively obtain the splashing morphological characteristics outside the metal plume. However, the splashes existing inside the metal plume are removed together with the metal plume by this method. The splash existing in the metal plume is often generated by separating from the surface of the molten pool, and the characteristic of the splash can reflect the motion state of the molten pool more truly.
In addition, the existing processing of high-speed images in the welding process can only extract the morphological characteristics of the spatter from the images, and the technical scheme of the motion state characteristics of the spatter separated from the molten pool is rarely reported. The zeita et al, the university of the beijing industry, manually tracks and measures the motion trail splashed in the high-speed photographic image frame by a manual measurement method, and the method has great limitation in practical application. The movement characteristics of the spatter are characterized by the distance between the spatter and a laser action point identified by image processing, and the movement track, the movement speed and the movement direction of the spatter cannot be directly reflected by the method.
The spatter generated in the laser welding process is radiated and moves from the molten pool to the periphery, the existing research on spatter form and movement characteristics is carried out in a two-dimensional plane parallel to the welding direction, and no technical scheme for identifying and tracking the distribution characteristics and the movement track in spatter three-dimensional space is reported.
The prior art has the following defects:
(1) due to the interference of the radiation light of the metal vapor plume, the splash in the plume cannot be identified and extracted.
(2) The motion trajectory of the spatter during the welding process cannot be automatically tracked, and thus the motion characteristics of the spatter during the welding process cannot be conveniently obtained.
(3) There is no scheme for the three-dimensional spatial distribution feature extraction and the motion trail tracking of the spattering in the welding process.
Therefore, those skilled in the art are dedicated to develop a method for identifying and tracking the three-dimensional spatial spatter in the laser welding process, so as to overcome the interference of metal vapor plume, automatically track the spatter track, and perform the spatter three-dimensional spatial distribution feature extraction and the motion track tracking in the welding process.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to identify and track the three-dimensional spatter during the laser welding process.
In order to achieve the above object, the present invention provides a method for identifying and tracking three-dimensional space spatter in a laser welding process, which is characterized by comprising the following steps:
step 1: acquiring a three-dimensional image of the splash;
step 2: extracting three-dimensional spatial features of the splashes;
and step 3: and positioning and tracking the flying track of the splashes.
Further, step 1 acquires images of the splash XOZ and YOZ planes simultaneously.
Further, step 1 further comprises the step of enhancing the acquired image:
step 11: setting a local processing area;
step 12: carrying out filtering processing on the local processing area;
step 13: moving the local processing area by m pixel points;
step 14: repeating the step 12 and the step 13 until the whole image area is reached, and performing enhancement averaging on the images processed in each local processing area to obtain an enhanced image;
step 15: and carrying out binarization processing and image segmentation on the enhanced image to obtain the form and position characteristics of splash in the image.
Further, the parameters of the filter in step 12 are determined by the luminance maximum T in the local processing region1And mean value T2The specific function of the filter is determined as:
wherein, I0For the brightness value of the image in the local processing region, I1For luminance values of the processed local processing region, Δ S1Is a threshold value of the difference between the splash brightness and the plume brightness, S2Is the threshold value of the plume brightness set.
Further, step 2 is configured to perform one-to-one association on the spattering position features obtained in the images of the XOZ and YOZ planes obtained at the same time, and extract the area size feature of the spattering in the XOZ plane and the three-dimensional spatial position feature thereof.
Further, step 3 comprises the steps of:
step 31: grouping and recombining the splashes;
step 32: evaluating each set of spatter;
step 33: correlating the motion tracks of the splash combinations meeting the judgment criterion;
step 34: and checking the acquired splashing motion track again.
Further, step 31 is to identify and evaluate the spatters based on 3 sets of continuously shot images, wherein one spatter is selected from the spatters obtained by each set of images, and the three spatters are combined.
Further, step 32 is to evaluate each group of splash combinations according to the following criteria, and the determination criteria include: whether the sizes of the splashes in the combination are consistent, whether the moving directions of the splashes in the combination are consistent, and the moving distances of the splashes in the combination in the time of each frame interval are equal.
Further, when the size characteristics and the spatial position of the spatters within the combination satisfy three judgment criteria, it is judged to be a part of the movement locus of the same spatter at different times.
Further, the trajectory of the motion of extracting the spatter is checked: the average size of the splashing of the motion tracks is consistent, the motion direction of the splashing motion tracks is consistent, the motion distance of the splashing motion tracks in each frame interval time is consistent, the distance between the first splashing in the motion tracks is in direct proportion to the time interval, the motion track combinations of different serial numbers meeting the four judgment criteria are reunified into the same splashing motion track at different moments, and the motion characteristics of the splashing motion tracks are obtained through rechecking the splashing motion tracks.
Different from the prior art, the method can only identify and extract the spatter outside the metal plume in the laser welding process from one side. The technology acquires the splashed images synchronously in XOZ and YOZ planes, inhibits the radiation light of the metal vapor plume through the image enhancement technology, enhances the splashed heat radiation light, and further extracts the form and the three-dimensional space position of the splashes in the metal plume. On the basis of the extracted size and three-dimensional space position characteristics of the spatters, the spatters in the three continuous images are combined, evaluated, identified and the identified spatter track is checked again, so that the movement tracks of different spatters in the welding process can be obtained, and the movement speed and the movement direction of the spatters in the three-dimensional space are further obtained. The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a flow chart of the present invention for tracking the motion trajectory of splashes extracted from successive images;
FIG. 2 is a flow chart of the present invention for image enhancement of splatter in an image;
fig. 3 is a flow chart of the present invention for rechecking the identified motion profile.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
During laser welding, molten metal is released from the molten pool around the keyhole and forms a splatter above the workpiece. The movement of the spatter in the space above the workpiece is three-dimensional, and therefore the position of the spatter needs to be captured simultaneously from two planes XOZ and YOZ, respectively, and spatter images of the spatter in the two planes are obtained, respectively.
In the laser welding process, because the energy input of welding laser is high, the metal vapor generated on the surface of the test plate escapes to the outside of the keyhole, and smog-shaped metal vapor plume is formed above the test plate. Since the metal plume smoke has high temperature, spontaneous radiation can be generated, and the identification and feature extraction of splashing can be hindered. Therefore, it is necessary to enhance the acquired image based on image processing, remove interference of the plume, and obtain a spatial position feature of the spatter.
The method utilizes the characteristic that the radiation intensity of the plume in the image is lower and the form distribution is in the plume shape to enhance the acquired image of the plume in the image. The image enhancement process is shown in fig. 2:
1) a local processing area is set.
2) Filtering the local processing area, wherein the parameter of the filter is determined by the highest brightness value T in the area1And mean value T2The specific function of the filter is determined as:
wherein, I0For the brightness value of the image in the local processing region, I1The brightness value of the processed local area is obtained; delta S1Is a threshold value of the difference between the set splash brightness and the set plume brightness; s2Is the threshold value of the plume brightness set.
The principle is as follows:
a) when T is1-T2>ΔS1And T2>S2In the process, the splash and the plume exist in the local processing area at the same time, and the brightness of the plume needs to be weakened and the brightness of the splash needs to be enhanced.
b) When T is1-T2<ΔS1And T is2>S2When the local processing area is in use, it is indicated that only smoke exists in the local processing area, and the overall brightness of the image in the local processing area needs to be weakened;
c) when T is2<S2When the image is processed, the image in the local processing area has no smoke, and the brightness of the area image does not need to be processed.
3) And after the brightness of the image in the local processing area is adjusted, moving the local processing area by m pixel points, and adjusting the brightness of the image in the new local processing area.
4) And after the enhancement of the image in the whole image area is finished, carrying out enhancement averaging on the processed image in each local processing area to obtain an enhanced image.
5) And carrying out binarization processing and image segmentation on the enhanced image to obtain the form and position characteristics of splash in the image.
6) Performing one-to-one correlation on splash position characteristics obtained in images obtained by the XOZ plane and the YOZ plane at the same time, and extracting area size characteristics A of splashes in the XOZ planeiAnd its three-dimensional spatial position feature (S)x,i,Sy,i,Sz,i)。
The spatter escaping from the bath, due to its high initial velocity. When the high-speed camera collects the image at a high frame rate, the motion track of the three-dimensional space splashed above the test panel can be regarded as uniform-speed linear motion, and the area size, the motion direction and the motion distance between every two frames of the same splashed image can be regarded as constant. Therefore, the flight path of the aircraft can be positioned and tracked according to the position and the shape and the size of the splash in the image acquired at each different moment. The specific tracking process is shown in fig. 1:
1) grouping and recombining the splashes;
the spatter movement trace tracing base is marked as (N)1,N1+1,N1+2) 3 groups of consecutively taken images were identified and evaluated, the grouping scheme being: and selecting one splash from the splashes acquired by each group of images, performing three-three combination, and evaluating the combined splashes. Splash in combination is respectively marked as FN1，FN2And FN3And the size of each splash is marked as AN1,AN2,AN3The spatial position is (S)x,N1,Sy,N1,Sz,N1)；(Sx,N2,Sy,N2,Sz,N2) And (S)x,N3,Sy,N3,Sz,N3)
2) Evaluating each set of spatter;
the judgment criteria are that each group of splash combination is evaluated according to the following criteria in sequence:
a) whether the size of the splashes in the combination is uniform, i.e. | AN1-AN2|＝|AN2-AN3The | is less than or equal to delta A. Δ a is the error allowed for the identified spatter size.
In the present embodiment, the allowable dimension error Δ a is set to
b) Whether the directions of movement of the splashes in the combination are the same
That is, for α12＝arccot[(Sx,N1-Sx,N2)/(Sz,N1-Sz,N2)],α23＝arccot[(Sx,N2-Sx,N3)/(Sz,N2-Sz,N3)]And β12＝arccot[(Sy,N1-Sy,N2)/(Sz,N1-Sz,N2)]；β23＝arccot[(Sy,N2-Sy,N3)/(Sz,N2-Sz,N3)]]The requirement is satisfied | α12-α23Delta α and β of | ≦12-β23|≤Δβ
Δ α and Δ β allow for error in the azimuth angle of the projection of the identified spatter motion in the XOZ plane and the YOZ plane, respectively, in this embodiment, Δ α and Δ β are both set to 5 °.
c) The distances traveled by the splashes in the combination during the time Δ t between each frame are equal, i.e. the
L12＝[(Sx,N1-Sx,N2)2+(Sy,N1-Sy,N2)2+(Sz,N1-Sz,N2)2]1/2
L23＝[(Sx,N2-Sx,N3)2+(Sy,N2-Sy,N3)2+(Sz,N2-Sz,N3)2]1/2
|L12-L23|≤ΔL0。
ΔL0The allowable error of the moving distance within the interval time Δ t per frame for the identified spatter. In this embodiment, the movement distance Δ L0The allowable error is set to:
3) correlating the motion tracks of the splash combinations meeting the judgment criterion;
when spattering in the combination (F)N1,FN2,FN3) The size characteristic and the spatial position of the splash-proof device can be considered as a part of the uniform linear motion track of the same splash at different moments when the size characteristic and the spatial position of the splash-proof device meet three judgment criteria in 2). At this time, the different splashing movement tracks are distinguished by distributing the serial numbers, and the serial number distribution criterion is as follows:
a) when the first splash in the combination FN1Has a serial number M1At this point, the spatter in the combination may be considered to have been identified as having a serial number M1Is part of the spatter trajectory. Thus, the other two splashes FN2And FN3Marked as one and the same sequence number M1。
b) When the first splash in the combination F1Without being assigned a sequence number, the spatter within the combination may be considered the start of a new spatter trajectory. Thus, three splashes FN1,FN2,FN3Marked as a new sequence number M2。
When to (N)1,N1+1,N1+2) after all combinations of splashes identified in the 3 sets of continuously captured images are determined, the images are shifted backward by one frame for (N)1+1,N1+2,N1+3) newly combining, judging and identifying the spatters extracted from the three groups of continuously shot images until the spatter motion trail tracking of the whole welding process is completed.
4) The obtained splashing motion track is checked again, and the flow is shown in fig. 3:
after the tracing of the spattering motion trail in the whole welding process is finished, the motion trail M for extracting the spattering is extractediChecking when any two groups M are presentiAnd MjWhen the following judgment criterion is satisfied, it can be considered as an interruption caused by the absence of splashing at a specific moment in the same splashing movement trajectory. The judgment criterion is as follows:
a) the average size of the motion trail splash is consistent. Namely, it is
Is a motion track miThe average size of the contained spatter is,S0the error allowed for the identified spatter size.
In the present embodiment, the allowable error of the size is set to
b) The movement directions of the splashing movement tracks are consistent. The angles of the motion tracks are consistent, namely:
and
wherein,
and
respectively is a motion track miThe projected azimuth angles in the space planes XOZ and YOZ Δ α and Δ β are the projected azimuth angle tolerance errors, respectively, set to 5 ° in this embodiment.
c) The movement distance of the splashing movement track in each frame interval time is consistent, namely:
wherein,
is a motion track miAverage distance between each splash in, Δ L0The allowable error of the moving distance within the interval time Δ t per frame for the identified spatter. In this embodiment, the allowable error of the movement distance is set as:
d) the distance between the first splashes in the motion trajectory is proportional to the time interval. Namely, it is
Wherein, Δ Lmi,mjAnd Δ tmi,mjAre respectively a motion track miAnd mjThe distance interval between the first splashes and the time interval between the located images, and Δ t is the interval time between each frame.
For the motion track combinations with different serial numbers meeting the four judgment criteria, the combination is considered to be caused by the fact that a certain section in the middle is lack of splash identification, and the combination can be unified into the same motion track of splash at different moments again through the criteria.
And the movement characteristics of the splash movement locus can be acquired through rechecking. Its velocity can be calculated as:
wherein,
and
and respectively corresponding to the moving distance between the adjacent frames of the splash in the moving track and the projection of the splash on the x axis, the y axis and the z axis.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A method for identifying and tracking three-dimensional space spatters in a laser welding process is characterized by comprising the following steps:
step 1: acquiring a three-dimensional image of the splash;
step 2: extracting the splash three-dimensional space characteristics;
and step 3: and positioning and tracking the flying track of the splash.
2. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 1, wherein said step 1 simultaneously acquires images of said spatter XOZ and YOZ planes.
3. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 2, wherein said step 1 further comprises the step of enhancing said acquired image:
step 11: setting a local processing area;
step 12: carrying out filtering processing on the local processing area;
step 13: moving the local processing area by m pixel points;
step 14: repeating the step 12 and the step 13 until the whole image area, and performing reinforced averaging on the images processed in each local area processing area to obtain an enhanced image;
step 15: and carrying out binarization processing and image segmentation on the enhanced image to obtain the form and position characteristics of splashing in the image.
4. The method for three-dimensional spatial spattering identification and tracking during laser welding according to claim 3, wherein the parameters of said step 12 filter are determined by the intensity maximum T in said local processing area1And mean value T2The specific function of the filter is determined as:
wherein, I0As brightness values of the image in said local processing area, I1For the luminance value of the processed local processing region, Δ S1Is a threshold value of the difference between the splash brightness and the plume brightness, S2Is set upThreshold value of plume brightness.
5. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 3, wherein said step 2 is configured to perform a one-to-one correlation of spatter position characteristics obtained from images of the XOZ and YOZ planes obtained at the same time, and extract an area size characteristic of spatter in the XOZ plane and a three-dimensional spatial position characteristic thereof.
6. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 5, wherein said step 3 comprises the steps of:
step 31: grouping and recombining the splashes;
step 32: evaluating each set of spatter;
step 33: correlating the motion tracks of the splash combinations meeting the judgment criterion;
step 34: and checking the acquired splashing motion track again.
7. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 6, wherein said step 31 of recognizing and evaluating is performed based on 3 sets of continuously captured images, one spatter being selected from each set of images, and three combinations thereof are performed.
8. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 6, wherein said step 32 is performed by evaluating each set of spatter combinations in turn according to the following criteria, wherein the criteria include: whether the sizes of the splashes in the combination are consistent, whether the moving directions of the splashes in the combination are consistent, and the moving distances of the splashes in the combination in the time of each frame interval are equal.
9. The method for three-dimensional spatial spatter recognition and tracking of a laser welding process according to claim 8, wherein the spatter is determined to be part of the movement trajectory of the same spatter at different times when the size characteristics and spatial position of the spatter within the combination satisfy three of said determination criteria.
10. The method for three-dimensional spatial spatter recognition and tracking in a laser welding process according to claim 9, wherein the trajectory of the movement for extracting spatter is checked: the average size of the splashing of the motion tracks is consistent, the motion direction of the splashing motion tracks is consistent, the motion distance of the splashing motion tracks in each frame interval time is consistent, the distance between the first splashing in the motion tracks is in direct proportion to the time interval, the motion track combinations of different serial numbers meeting the four judgment criteria are reunified into the same splashing motion track at different moments, and the motion characteristics of the splashing motion tracks are obtained through rechecking the splashing motion tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010048245.7A CN111242979B (en) | 2020-01-16 | 2020-01-16 | Method for recognizing and tracking splashing of three-dimensional space in laser welding process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010048245.7A CN111242979B (en) | 2020-01-16 | 2020-01-16 | Method for recognizing and tracking splashing of three-dimensional space in laser welding process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111242979A true CN111242979A (en) | 2020-06-05 |
| CN111242979B CN111242979B (en) | 2023-05-12 |
Family
ID=70872706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010048245.7A Active CN111242979B (en) | 2020-01-16 | 2020-01-16 | Method for recognizing and tracking splashing of three-dimensional space in laser welding process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111242979B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905738A (en) * | 2022-02-18 | 2022-08-16 | 中国地质大学（武汉） | Method for in-situ measurement of splashing dynamics behavior in laser additive manufacturing |
| CN116493735A (en) * | 2023-06-29 | 2023-07-28 | 武汉纺织大学 | Real-time tracking method for motion splash in Wanwave-level ultra-high power laser welding process |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69917728D1 (en) * | 1998-09-21 | 2004-07-08 | Lincoln Global Inc | Method for controlling a welding process and control |
| CN109990834A (en) * | 2019-03-27 | 2019-07-09 | 东南大学 | High-temperature flight particle temperature, speed, partial size in-situ measuring method |
-
2020
- 2020-01-16 CN CN202010048245.7A patent/CN111242979B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69917728D1 (en) * | 1998-09-21 | 2004-07-08 | Lincoln Global Inc | Method for controlling a welding process and control |
| CN109990834A (en) * | 2019-03-27 | 2019-07-09 | 东南大学 | High-temperature flight particle temperature, speed, partial size in-situ measuring method |
Non-Patent Citations (2)
| Title |
|---|
| JIAZHOU WU: "3D Multiphysical Modelling of Fluid Dynamics and Mass Transfer in Laser Welding of Dissimilar Materials" * |
| 王腾: "基于等离子体特征信号的激光焊接过程动态监控技术研究进展" * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905738A (en) * | 2022-02-18 | 2022-08-16 | 中国地质大学（武汉） | Method for in-situ measurement of splashing dynamics behavior in laser additive manufacturing |
| CN114905738B (en) * | 2022-02-18 | 2023-03-31 | 中国地质大学（武汉） | Method for in-situ measurement of splashing dynamics behavior in laser additive manufacturing |
| CN116493735A (en) * | 2023-06-29 | 2023-07-28 | 武汉纺织大学 | Real-time tracking method for motion splash in Wanwave-level ultra-high power laser welding process |
| CN116493735B (en) * | 2023-06-29 | 2023-09-12 | 武汉纺织大学 | Real-time tracking method for motion splash in Wanwave-level ultra-high power laser welding process |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111242979B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3495077A1 (en) | Powder spreading quality test method and additive manufacturing device | |
| Luo et al. | Vision-based weld pool boundary extraction and width measurement during keyhole fiber laser welding | |
| US7570794B2 (en) | System and method for evaluating a machined surface of a cast metal component | |
| CN111242979A (en) | Three-dimensional space spattering identification and tracking method in laser welding process | |
| Guo et al. | Weld deviation detection based on wide dynamic range vision sensor in MAG welding process | |
| CN108489986A (en) | A kind of increasing material manufacturing on-line checking and restorative procedure | |
| CN112991338B (en) | Defect detection method and device for laser cutting part | |
| CN113369697B (en) | Laser polishing online detection system and method | |
| Reimann et al. | Three-beam laser brazing of zinc-coated steel | |
| CN109108518A (en) | A kind of online test method and device of Laser Welding hump defect | |
| US20230260103A1 (en) | Computer-implemented, adapted anomaly detection method for powder-bed-based additive manufacturing | |
| Zhang et al. | Narrow-seam identification and deviation detection in keyhole deep-penetration TIG welding | |
| CN111203639B (en) | Double-laser-beam bilateral synchronous welding filler wire molten drop transition monitoring system and method based on high-speed camera shooting | |
| CN115493843B (en) | Quality monitoring method and equipment based on bearing retainer | |
| CN116493735B (en) | Real-time tracking method for motion splash in Wanwave-level ultra-high power laser welding process | |
| CN109483887A (en) | Shaping layer contour accuracy online test method in the fusion process of selective laser | |
| CN111203655B (en) | Three-dimensional space spattering recognition device in laser welding process | |
| Teramoto et al. | Automated solder inspection technique for BGA-mounted substrates by means of oblique computed tomography | |
| Lertrusdachakul et al. | Vision-based control of wire extension in GMA welding | |
| Wang et al. | Weld pool surface fluctuations sensing in pulsed GMAW | |
| CN109470162B (en) | Intelligent detection system and method for micropore shape of oil nozzle based on machine vision | |
| US20180089824A1 (en) | Method of calibrating a direct laser deposition process | |
| Okamoto et al. | Velocity and angle of spatter in fine laser processing | |
| Ungers et al. | In-situ quality monitoring during laser brazing | |
| JP2010260095A (en) | Method and apparatus for evaluating laser welding quality |
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 |