CN111570975B - Welding deviation measuring method and device based on synchronous drawing and automatic welding system - Google Patents
Welding deviation measuring method and device based on synchronous drawing and automatic welding system Download PDFInfo
- Publication number
- CN111570975B CN111570975B CN202010400042.XA CN202010400042A CN111570975B CN 111570975 B CN111570975 B CN 111570975B CN 202010400042 A CN202010400042 A CN 202010400042A CN 111570975 B CN111570975 B CN 111570975B
- Authority
- CN
- China
- Prior art keywords
- image
- welding
- molten
- molten pool
- molten drop
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a welding deviation measuring method and device based on synchronous drawing and an automatic welding system, wherein the method comprises the following steps: acquiring a molten drop image and a welding seam image of the same time point in a welding area; fusing the molten drop image and the welding seam image to obtain a molten pool image corresponding to a time point; obtaining multiple frames of molten pool images at different time points in sequence, and determining a reference molten pool image and a molten pool image to be detected; respectively extracting molten drop position information and welding seam position information in the reference molten pool image and the molten pool image to be detected; and calculating to obtain a welding deviation value according to the molten drop position information and the welding seam edge position information in the reference molten pool image and the molten pool image to be detected. The invention can realize real-time on-line monitoring of the positions of molten drops and welding seams, reduce the cost of automatic welding equipment and improve the precision of welding seam tracking.
Description
Technical Field
The invention relates to the technical field of automatic welding, in particular to a welding deviation measuring method and device based on synchronous drawing and an automatic welding system.
Background
In recent years, with the progress of science and technology, automatic welding has been rapidly developed. The core problem of automatic welding lies in how to realize accurate tracking and guiding of welding seams, and then the motion trail of a welding gun is controlled in real time so as to meet the requirements of welding quality.
For pipelines and pressure vessels in petrochemical engineering construction sites, the trackless all-position crawling type welding robot is adopted, the constraint of a track can be eliminated, all-position welding can be carried out, and the device is more suitable for construction sites in complex environments. However, during welding, the trackless full-position crawling welding machine can generate deviation under the traction of gravity and cables, and the deviation amount and the deviation angle cannot be determined. Therefore, by adopting the active visual sensing and control technology of laser front guidance, the introduced advanced monitoring error cannot be eliminated in a lag control mode, and the tracking precision is low. The passive visual sensing adopts a method of directly observing the image of the molten pool, so that the advanced monitoring error does not exist, the tracking precision can be improved, but the image of the molten pool is not clear due to the interference of arc light, and the problem of solving the interference of the arc light is the first problem faced by the passive visual sensing.
Disclosure of Invention
The invention mainly aims to provide a welding deviation measuring method and device based on synchronous image acquisition and an automatic welding system, and aims to solve the problems that the tracking precision of the conventional trackless full-position crawling type welding robot is low when an active visual sensing method is adopted, and the image of a molten pool is not clear due to the interference of arc light when passive visual sensing is adopted.
In order to achieve the purpose, the invention provides a welding deviation measuring method based on synchronous drawing, which comprises the following steps:
acquiring a molten drop image and a welding seam image of the same time point in a welding area;
fusing the molten drop image and the welding seam image to obtain a molten pool image corresponding to a time point;
obtaining multiple frames of molten pool images at different time points in sequence, and determining a reference molten pool image and a molten pool image to be detected;
respectively extracting molten drop position information and welding seam position information in the reference molten pool image and the molten pool image to be detected;
and calculating to obtain a welding deviation value according to the molten drop position information and the welding seam edge position information in the reference molten pool image and the molten pool image to be detected.
Optionally, the step of sequentially obtaining multiple frames of the molten pool images at different time points and determining a reference molten pool image and a molten pool image to be measured includes:
judging whether the time point corresponding to the molten pool image exceeds a preset time point or not;
when the image does not exceed the reference molten pool image, the molten pool image is a reference molten pool image;
and when the image exceeds the preset threshold value, the molten pool image is the molten pool image to be detected.
Optionally, the weld position information includes information of an inner side upper edge position, an inner side lower edge position, an outer side upper edge position, and an outer side lower edge position, and the droplet position includes a droplet center position.
Optionally, the preset time point is a time point when the welding gun swings to a second limit position in the welding area, and the reference weld pool image comprises a first reference image and a second reference image;
the step of calculating and obtaining the welding deviation value according to the positions of the molten drops and the edge positions of the welding seams in the reference molten pool image and the molten pool image to be detected comprises the following steps:
calculating to obtain a distance Db between the center position of the molten drop and the inner upper edge position in the first reference image1And a distance Wb from the outer upper edge position1；
Calculating to obtain the distance Wb between the center position of the molten drop and the inner upper edge position in the second reference image2And a distance Db from the outer upper edge position2；
Calculating and obtaining the distance D between the central position of the molten drop and the upper edge position of the inner side in the molten pool image to be detectediAnd a distance W from the outer upper edge positioni；
According to Db1、Wb1、Wb2、Db2、DiAnd WiAnd calculating to obtain the welding deviation value.
Optionally, the welding deviation value comprises a welding gun position deviation value according to Db1、Wb1、Wb2、Db2、DiAnd WiCalculating to obtain the welding deviation value, comprising:
calculating to obtain the welding gun position deviation value Dpi＝Di-DbiWherein i is 1, 2.
Optionally, the weld bias value comprises a torch swing bias value according to Db1, Wb1, Wb2, Db2, and DiAnd WiCalculating to obtain the welding deviation value, comprising:
calculating to obtain a welding gun swing amplitude reference value W according to the first reference image and the second reference imageb＝(Db1+Wb1+Wb2+Db2)/2；
Calculating to obtain the welding gun swing amplitude deviation value W according to the molten pool image to be detectedp＝Di+Wi-WbWherein i is 1, 2.
Optionally, the step of fusing the droplet image and the weld image to obtain a weld pool image corresponding to a time point includes:
dividing a calibration area comprising molten drops and a welding line in the welding area;
respectively establishing pixel coordinate systems of the molten drop image, the welding seam image and the calibration area according to image pixel information;
acquiring the relative position of the molten drop center position in the calibration area in a pixel coordinate system of the molten drop image;
acquiring the relative position of the welding seam of the edge position of the welding seam in the calibration area in a pixel coordinate system of the welding seam image;
and mapping the position coordinates of the center of the molten drop and the edge of the welding seam into a pixel coordinate system of the calibration area according to the relative position of the molten drop and the relative position of the welding seam to serve as the molten pool image comprising the molten drop and the welding seam.
Optionally, the step of obtaining a droplet relative position of the droplet center position in the calibration area in the pixel coordinate system of the droplet image includes:
carrying out binarization processing on each frame of molten pool image to mark out a molten drop area;
obtaining coordinate values (r, c) of pixel points in the molten drop region, wherein r and c are respectively a row coordinate and a column coordinate;
calculating the area of the droplet region
Wherein R is the number value of the pixel points in the molten drop region;
calculating the coordinate value of the gravity center G of the molten drop region
And taking the coordinate value of the gravity center G of the molten drop area as the central position of the molten drop.
In addition, the invention also provides a welding deviation measuring device based on synchronous drawing, which comprises:
the visual acquisition device comprises a first camera and a second camera which are used for facing the molten pool so as to respectively shoot a molten drop image and a welding seam image; and the number of the first and second groups,
the controller is electrically connected with the vision acquisition device and comprises a storage medium, a welding deviation measuring program is stored in the storage medium, and the welding deviation measuring program executes the steps of the welding deviation measuring method based on synchronous drawing.
In addition, the present invention also provides an automatic welding system, which is applied to a crawling robot, and includes:
a welding gun for being swingably mounted to the crawling robot;
the driving device is used for being installed on the crawling robot and driving the welding gun to swing;
the vision acquisition device is used for being installed on the crawling robot and comprises a first camera for shooting molten drops and a second camera for shooting welding seams; and the number of the first and second groups,
the control device is electrically connected with the driving device and the vision acquisition device respectively, and comprises a processor and a storage medium, wherein the storage medium stores welding deviation measurement degrees, and the welding deviation measurement degrees execute the steps of the welding deviation measurement method based on synchronous drawing.
In the welding deviation measuring method and device based on synchronous image acquisition, the molten drop image and the welding seam image in a welding area are acquired at the same time, the molten drop image and the welding seam image are acquired by different cameras, the phenomenon that the welding seam is not clear due to too bright molten drop image is avoided, the images of the molten drop and the welding seam can be stably and clearly acquired, the arc light interference of a professional camera with high price is avoided, and the cost of automatic welding equipment is reduced. The automatic welding system can realize real-time online monitoring of the positions of molten drops and welding seams, reduces the cost of automatic welding equipment, improves the precision of welding seam tracking, and has reference significance for the application of crawling robots based on passive vision sensing systems.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a welding deviation determination method based on synchronous drawing according to the present invention;
FIG. 2 is a schematic flow chart of a method for measuring welding deviation based on simultaneous drawing according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for measuring welding deviation based on simultaneous drawing according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a principle of obtaining a plurality of frames of the weld puddle images at different time points according to an embodiment of the method for measuring welding deviation based on synchronous drawing of the present invention;
FIG. 5 is a schematic diagram of a first reference image and a second reference image in an embodiment of a method for measuring welding deviation based on simultaneous mapping according to the present invention;
FIG. 6 is a schematic diagram of a molten pool image to be measured when a welding gun moves to an inner lower edge position of a weld and an inner lower edge position of the weld respectively according to an embodiment of the welding deviation measurement method based on synchronous drawing provided by the invention;
FIG. 7 is a schematic diagram of calibrating and fusing images of a droplet and a weld in an embodiment of a method for measuring welding deviation based on simultaneous acquisition according to the present invention;
FIG. 8 is a schematic structural diagram of a welding deviation measuring device based on synchronous drawing according to the present invention;
fig. 9 is a schematic structural diagram of an automatic welding system provided by the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Welding |
31 | |
| 200 | |
32 | Second camera |
| 1 | Welding gun | 4 | |
| 2 | |
5 | Molten bath |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The core problem of automatic welding lies in how to realize accurate tracking and guiding of welding seams, and then the motion trail of a welding gun is controlled in real time so as to meet the requirement of welding quality. However, in the automatic welding process, the trackless full-position crawling welding machine can generate deviation under the traction of gravity and cables, and the deviation amount and the deviation angle cannot be determined. The passive vision sensing adopts a method of directly observing a molten pool image, so that the advanced monitoring error does not exist, the tracking precision can be improved, but the interference of arc light is bound to cause the image picture of the molten pool to be unclear.
In order to solve the problems, the invention provides a welding deviation measuring method based on synchronous drawing, which comprises the following steps:
s100: acquiring a molten drop image and a welding seam image of the same time point in a welding area;
in the method, the synchronous drawing acquisition refers to that the molten drop image and the welding seam image in the welding area are acquired at the same time in the automatic welding process, the molten drop image and the welding seam image are acquired by different cameras, the phenomenon that the welding seam is not clear due to too bright molten drop image is avoided, and the molten drop image and the welding seam image can be stably and clearly acquired. In addition, the position relation between the molten drop and the welding gun is very close according to the observation of a large amount of molten pool images, so that the movement precision of the welding gun can be ensured by indicating the position of the welding gun by using the characteristic position of the molten drop.
It should be noted that, in the automatic welding process, the welding gun is continuously swung, and according to the welding process requirements, when the welding gun is swung to the limit position (i.e., the edge of the welding seam), the welding gun needs to pause for 300ms to 350ms to fully penetrate through the two edges of the welding seam, so as to avoid the phenomenon that the welding gun is shot in a moving state to cause smearing in the weld pool image, and the time point when the welding gun pauses at the two edges of the welding seam can be selected as the shooting time point in the step.
S200: fusing the molten drop image and the welding seam image to obtain a molten pool image corresponding to a time point;
in the step, the molten drop image and the welding seam image which are acquired when the time points are the same are fused, so that the fused image simultaneously comprises the molten drop and the welding seam, and the actual positions of the molten drop and the welding seam in the welding area are restored.
S300: obtaining multiple frames of molten pool images at different time points in sequence, and determining a reference molten pool image and a molten pool image to be detected;
referring to fig. 1 and 4, the welding gun pauses briefly at the swing limit point during the swing, and the different pause positions correspond to different time points of obtaining the multi-frame weld pool image.
S400: respectively extracting molten drop position information and welding seam position information in a reference molten pool image and a molten pool image to be detected;
s500: and calculating to obtain a welding deviation value according to the molten drop position information and the welding seam edge position information in the reference molten pool image and the molten pool image to be detected.
In the welding process, the arc light and the welding slag are very strong in splashing, a professional camera is needed to reduce the arc light interference, and the professional camera is high in price and is not beneficial to popularization and application of automatic welding equipment. In the method, after the dimming capability, the lens aperture, the exposure parameters and the like of the two ordinary cameras are adjusted, the two ordinary cameras synchronously shoot the molten drop image and the welding seam image, so that the arc interference can be prevented from being removed by using expensive professional cameras, and the cost of automatic welding equipment is reduced. Furthermore, the invention also fuses the molten drop image and the welding seam image to restore the actual positions of the molten drop and the welding seam in the welding area, so that the deviation between the position of the welding gun and the reference position at a certain moment can be calculated by referring the position of the welding gun as the molten drop position and the position of the welding seam in the reference molten pool image and the molten pool image to be detected, and then the movement track of the welding gun is controlled according to the deviation to ensure that the welding gun keeps high-precision tracking of the welding seam. The welding deviation measuring method can realize real-time online monitoring of the positions of molten drops and welding seams, reduces the cost of automatic welding equipment, improves the precision of welding seam tracking, and has reference significance for the application of crawling robots based on passive vision sensing systems.
Further, referring to fig. 2, in the method of the present invention, the step of sequentially obtaining multiple frames of molten pool images at different time points and determining a reference molten pool image and a molten pool image to be measured includes:
s310: judging whether the time point corresponding to the molten pool image exceeds a preset time point or not;
s320: when the image does not exceed the reference image, the molten pool image is a reference molten pool image;
s330: and when the image exceeds the preset threshold value, the molten pool image is the molten pool image to be detected.
According to the steps in the embodiment of the invention, when the welding gun stops welding at a certain position, only the arc striking is needed again, the latest reference molten pool image and the latest molten pool image to be detected can be selected, and the welding seam tracking precision is greatly increased.
Further, the weld positions include an inner upper edge position, an inner lower edge position, an outer upper edge position, and an outer lower edge position, and the droplet position includes a droplet center position.
Referring to fig. 4, the weld joint is usually deep and arranged in an inverted trapezoid, so that there are four straight line segments in the weld joint image. In addition, the observation of the molten drop image shows that the outline characteristics of the molten drop are obvious, and the shape is not complex, so that the central position of the molten drop can be selected as the characteristic position of the molten drop.
Further, in the method of the present invention, the preset time point is a time point when the welding gun swings to a second limit position in the welding region, the reference molten pool image includes a first reference image and a second reference image, that is, after the welding gun starts to arc, both the first frame image and the second frame image are the reference images, and the step of calculating and obtaining the welding deviation value according to the molten drop position and the weld edge position in the reference molten pool image and the molten pool image to be measured includes:
s510: calculating to obtain the distance Db between the center position of the molten drop and the inner upper edge position in the first reference image1And a distance Wb from the outer upper edge position1；
S520: calculating to obtain the distance Wb between the center position of the molten drop and the inner upper edge position in the second reference image2And a distance Db from the outer upper edge position2；
S530: calculating to obtain the distance D between the center position of the molten drop and the upper edge position of the inner side in the molten pool image to be measurediAnd a distance W from the outer upper edge positioni；
S540: according to Db1、Wb1、Wb2、Db2、DiAnd WiAnd calculating to obtain a welding deviation value.
Namely, Db can be calculated after linear equations of the inner upper edge position and the outer upper edge position of the weld can be established in the two reference images1、Wb1、Wb2、Db2、Di、WiAnd a weld offset value.
Further, in the method of the present invention, the welding deviation value includes a welding torch position deviation value, which refers to a deviation between a position that the welding torch should reach and an actually reached position during automatic welding. In the actual process, the welding gun is interfered by external environmental factors, so that the swinging route is deviated, and the welding seam is deviated, therefore, the deviation value of the welding gun position needs to be calculated, and the swinging route of the welding gun is controlled according to the deviation value.
According to Db1、Wb1、Wb2、Db2、DiAnd WiCalculating to obtain a welding deviation value, comprising:
s541: calculating to obtain a welding gun position deviation value Dpi＝Di-DbiWherein i is 1, 2.
Specifically, referring to fig. 3 to 6, taking the inner lower edge position and the outer lower edge position of the welding seam after the arc of the welding gun passes through in sequence as an example, in the first reference image, the welding gun position deviation value Dp is1＝D1-Db1When the welding gun moves to the inner lower edge position of the welding seam, the position deviation value Dp is used1For the purpose, in the second reference image, the welding gun position deviation value Dp2＝D2-Db2When the welding gun moves to the outer lower edge position of the welding seam, the position deviation value Dp is used2The standard is.
In the calculation process, the pixel is taken as a unit, and the actual control process of the welding gun motion track is taken as a unit of mm, so the pixel unit in the image pixel coordinate system needs to be converted, and the conversion is carried out by the pixel number and the diameter length of the welding wire in the image in the embodiment.
Further, in the method of the present invention, the welding bias includes a torch excursion bias according to Db1, Wb1, Wb2, Db2 and DiAnd WiCalculating to obtain a welding deviation value, comprising:
s542: calculating to obtain a welding gun swing amplitude reference value W according to the first reference image and the second reference imageb＝(Db1+Wb1+Wb2+Db2)/2；
S543: calculating to obtain the welding gun swing amplitude deviation value W according to the molten pool image to be measuredp，Wp＝Di+Wi-WbWherein i is 1, 2.
Referring to fig. 3-6, taking the inner lower edge position and the outer lower edge position of the welding line in sequence after the arc start of the welding gun as an example, in the first reference image, the welding gun swing amplitude deviation value Wp＝D1+W1-WbWhen the welding gun moves to the inner lower edge position of the welding seam, the position deviation value W is adoptedpTo be accurateIn the second reference image, the welding gun position deviation value Wp＝D2+W2-WbWhen the welding gun moves to the outer lower edge position of the welding seam, the position deviation value W is adoptedpThe standard is.
In the automatic welding process, when the welding gun deviates, the moving path of the welding gun deviates from the welding line, and at the moment, the welding gun can be controlled to return to the correct position according to the deviation value of the position of the welding gun, or the swing amplitude of the welding gun is controlled to offset the position deviation, or the two modes are implemented simultaneously, so that the accuracy of welding line tracking is finally improved.
Further, referring to fig. 7, in the method of the present invention, the step of fusing the droplet image and the bead image to obtain a molten pool image corresponding to a time point includes:
s210: dividing a calibration area comprising molten drops and a welding seam in the welding area;
s220: respectively establishing a molten drop image, a welding seam image and a pixel coordinate system of a calibration area according to image pixel information;
s230: acquiring the relative position of the molten drop in the calibration area of the central position of the molten drop in a pixel coordinate system of the molten drop image;
s240: acquiring the relative position of the welding seam of the edge position of the welding seam in a calibration area in a pixel coordinate system of the welding seam image;
s250: and mapping the position coordinates of the center of the molten drop and the edge of the welding seam into a pixel coordinate system of the calibration area according to the relative position of the molten drop and the relative position of the welding seam to serve as a molten pool image comprising the molten drop and the welding seam.
The images of the molten drop and the welding seam are synchronously acquired by the two CCD cameras respectively and then are fused, so that the central position of the molten drop and the edge position of the welding seam are firstly under different image pixel coordinate systems, and when the molten drop and the welding seam are fused, the welding deviation amount can be measured only by unifying the two images under a new image pixel coordinate system, therefore, the cameras of the two CCD cameras are required to be calibrated, and the accuracy of the new image pixel coordinate system is improved.
Further, in the method of the present invention, the step of obtaining the relative position of the droplet center position in the calibration area in the pixel coordinate system of the droplet image includes:
s231: carrying out binarization processing on each frame of molten pool image to divide a molten drop area,
s232: obtaining coordinate values (r, c) of pixel points in a molten drop area, wherein r and c are a row coordinate and a column coordinate respectively;
s233: calculating the area of the droplet region
Wherein R is the number value of the pixel points in the molten drop region,
s234: calculating the coordinate value of the gravity center G of the droplet region
The coordinate value of the gravity center G of the droplet region is set as the droplet center position.
In the present embodiment, the position of the center of gravity of the droplet is calculated as the center position of the droplet, and the droplet is finally used as the position of the welding torch to perform the seam tracking, so that the welding torch can perform the seam tracking with high accuracy.
Referring to fig. 8, according to a welding deviation measuring method according to an embodiment of the present invention, the present invention provides a welding deviation measuring apparatus 100 based on synchronous drawing, the apparatus includes a vision collecting device and a controller (not shown in the drawings), the vision collecting device includes a first camera 31 and a second camera 32 for facing a molten pool 5 to respectively capture a droplet image and a weld image, the controller is electrically connected to the vision collecting device, the controller includes a storage medium storing a welding deviation measuring program, and the welding deviation measuring program executes the steps of the welding deviation measuring method based on synchronous drawing according to the present invention.
In this embodiment, the first camera 31 and the second camera 32 are respectively located at two sides of the welding gun 1, and it is also feasible to locate the first camera 31 and the second camera 32 at the same side in order to save the occupied space of the device, and the implementation of the device and the method of the present invention is not affected.
It will be understood by those skilled in the art that the welding deviation measuring device 100 shown in fig. 8 may be installed on an apparatus and system for automatic welding to perform deviation measurement when actual automatic welding is performed, or may be installed in a laboratory in an arrangement specific to the welding deviation measuring method of the embodiment of the present invention.
Referring to fig. 9, based on the welding deviation measuring method and apparatus of the embodiment of the present invention, the present invention provides an automatic welding system 200, which is applied to a crawling robot that performs automatic welding operation based on seam tracking, the automatic welding system includes a welding gun 1, a driving apparatus 4, a visual collection apparatus, and a control apparatus, the welding gun 1 is configured to be swingably mounted on the crawling robot 2, the driving apparatus is configured to be mounted on the crawling robot 2 and drive the welding gun 1 to swing, the visual collection apparatus is configured to be mounted on the crawling robot 2, the visual collection apparatus includes a first camera 31 and a second camera 32, the first camera 31 and the second camera 32 are configured to face a molten pool 5 and respectively capture a molten drop, the control apparatus is electrically connected to the driving apparatus 4 and the visual collection apparatus, the control apparatus includes a processor and a storage medium, the storage medium stores a welding deviation measuring degree, the welding deviation measurement degree executes the steps of the welding deviation measurement method based on synchronous sampling according to the invention.
The automatic welding system can avoid using a high-price professional camera to remove arc light interference, reduce the cost of automatic welding equipment, realize real-time online monitoring of the positions of molten drops and welding seams, reduce the cost of the automatic welding equipment, improve the tracking precision of the welding seams, and have reference significance for the application of the crawling robot based on the passive vision sensing system.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. A welding deviation measuring method based on synchronous drawing is characterized by comprising the following steps:
acquiring a molten drop image and a welding seam image of the same time point in a welding area;
fusing the molten drop image and the welding seam image to obtain a molten pool image corresponding to a time point;
obtaining multiple frames of molten pool images at different time points in sequence, and determining a reference molten pool image and a molten pool image to be detected;
respectively extracting molten drop position information and weld joint position information in the reference molten pool image and the molten pool image to be detected, wherein the weld joint position information comprises information of an inner side upper edge position, an inner side lower edge position, an outer side upper edge position and an outer side lower edge position, the molten drop position information comprises a molten drop center position, and the molten drop center position comprises a first molten drop center position and a second molten drop center position;
calculating to obtain a welding deviation value according to the molten drop position information and the welding seam position information in the reference molten pool image and the molten pool image to be detected;
the method comprises the following steps of obtaining a plurality of frames of molten pool images at different time points in sequence, and determining a reference molten pool image and a molten pool image to be detected, wherein the steps comprise:
judging whether the time point corresponding to the molten pool image exceeds a preset time point or not,
when the image does not exceed the reference molten pool image, the molten pool image is a reference molten pool image;
when the image exceeds the preset image, the molten pool image is a molten pool image to be detected;
the preset time point is the time point when the welding gun swings to a second limit position in the welding area, and the reference molten pool image comprises a first reference image and a second reference image;
the step of calculating and obtaining the welding deviation value according to the molten drop position information and the welding seam position information in the reference molten pool image and the molten pool image to be detected comprises the following steps:
calculating to obtain the center position of the molten drop and the inner upper edge in the first reference imageDistance of position Db1And a distance Wb from the outer upper edge position1；
Calculating to obtain the distance Wb between the center position of the molten drop and the inner upper edge position in the second reference image2And a distance Db from the outer upper edge position2；
Calculating and obtaining the distance D between the center position of the first molten drop and the upper edge position of the inner side in the molten pool image to be detected1And a distance W from the outer upper edge position1；
Calculating and obtaining the distance W between the center position of the second molten drop and the upper edge position of the inner side in the molten pool image to be detected2And a distance D from the outer upper edge position2；
According to Db1、Wb1、Wb2、Db2、D1、D2、W1And W2And calculating to obtain the welding deviation value.
2. The method of claim 1, wherein the welding deviation values comprise gun swing deviation values according to Db1, Wb1, Wb2, Db2, D1、D2、W1And W2Calculating to obtain the welding deviation value, comprising:
calculating to obtain a welding gun swing amplitude reference value W according to the first reference image and the second reference imageb＝(Db1+Wb1+Wb2+Db2)/2；
Calculating to obtain the welding gun swing amplitude deviation value W according to the molten pool image to be detectedp，Wp＝Di+Wi-WbWherein i is 1, 2.
3. The welding deviation determination method based on simultaneous drawing according to claim 1, wherein the step of fusing the droplet image and the bead image to obtain a molten pool image corresponding to a time point comprises:
dividing a calibration area comprising molten drops and a welding line in the welding area;
respectively establishing pixel coordinate systems of the molten drop image, the welding seam image and the calibration area according to image pixel information;
acquiring the relative position of the molten drop center position in the calibration area in a pixel coordinate system of the molten drop image;
acquiring the relative position of the welding seam of the edge position of the welding seam in the calibration area in a pixel coordinate system of the welding seam image;
and mapping the position coordinates of the center of the molten drop and the edge of the welding seam into a pixel coordinate system of the calibration area according to the relative position of the molten drop and the relative position of the welding seam to serve as the molten pool image comprising the molten drop and the welding seam.
4. The welding deviation determination method based on simultaneous mapping as claimed in claim 3, wherein said step of obtaining the droplet relative position of the droplet center position in said calibration area in the pixel coordinate system of said droplet image comprises:
carrying out binarization processing on each frame of molten pool image to mark out a molten drop area;
obtaining coordinate values (r, c) of pixel points in the molten drop region, wherein r and c are respectively a row coordinate and a column coordinate;
calculating the area of the droplet region
Wherein R is the number value of the pixel points in the molten drop region;
calculating the coordinate value of the gravity center G of the molten drop region
And taking the coordinate value of the gravity center G of the molten drop area as the central position of the molten drop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010400042.XA CN111570975B (en) | 2020-05-12 | 2020-05-12 | Welding deviation measuring method and device based on synchronous drawing and automatic welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010400042.XA CN111570975B (en) | 2020-05-12 | 2020-05-12 | Welding deviation measuring method and device based on synchronous drawing and automatic welding system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111570975A CN111570975A (en) | 2020-08-25 |
| CN111570975B true CN111570975B (en) | 2022-04-05 |
Family
ID=72120816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010400042.XA Active CN111570975B (en) | 2020-05-12 | 2020-05-12 | Welding deviation measuring method and device based on synchronous drawing and automatic welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111570975B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171022B (en) * | 2020-09-10 | 2022-03-08 | 中车长春轨道客车股份有限公司 | Swing welding optimization method based on synchronous electrical parameters and vision |
| CN113828892B (en) * | 2021-10-29 | 2022-05-10 | 广东福维德焊接股份有限公司 | HDR image-based molten pool center identification system and weld joint tracking method |
| CN114160921B (en) * | 2021-11-22 | 2023-04-28 | 湖北文理学院 | Welding control method and device of welding robot and welding robot |
| CN117381105B (en) * | 2023-12-11 | 2024-03-08 | 宾采尔(广州)焊接技术有限公司 | Robot welding current control method and device, electronic equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101612736A (en) * | 2009-07-23 | 2009-12-30 | 上海交通大学 | Robot MIG welding binocular vision sensing system |
| CN105033419A (en) * | 2015-08-14 | 2015-11-11 | 北京石油化工学院 | Moving type welding robot device based on weld pool image welding line tracking |
| CN108247179A (en) * | 2017-12-15 | 2018-07-06 | 太原科技大学 | I shape grooves CO based on crater image2Weld deviation detecting method and device |
| CN108274095A (en) * | 2018-01-18 | 2018-07-13 | 天津工业大学 | Asymmetry angle weld seam welding quality detection method based on front crater image feature |
| CN110773840A (en) * | 2019-11-12 | 2020-02-11 | 湖北文理学院 | Welding deviation measuring method and device and automatic welding system |
-
2020
- 2020-05-12 CN CN202010400042.XA patent/CN111570975B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101612736A (en) * | 2009-07-23 | 2009-12-30 | 上海交通大学 | Robot MIG welding binocular vision sensing system |
| CN105033419A (en) * | 2015-08-14 | 2015-11-11 | 北京石油化工学院 | Moving type welding robot device based on weld pool image welding line tracking |
| CN108247179A (en) * | 2017-12-15 | 2018-07-06 | 太原科技大学 | I shape grooves CO based on crater image2Weld deviation detecting method and device |
| CN108274095A (en) * | 2018-01-18 | 2018-07-13 | 天津工业大学 | Asymmetry angle weld seam welding quality detection method based on front crater image feature |
| CN110773840A (en) * | 2019-11-12 | 2020-02-11 | 湖北文理学院 | Welding deviation measuring method and device and automatic welding system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111570975A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111570975B (en) | Welding deviation measuring method and device based on synchronous drawing and automatic welding system | |
| CN110773840B (en) | Welding deviation measuring method and device and automatic welding system | |
| CN111570974B (en) | Welding deviation measuring method and device based on synchronous drawing and automatic welding system | |
| CN112122840A (en) | Visual positioning welding system and welding method based on robot welding | |
| CN114792337B (en) | High-precision detection method and device for welding groove size and relative pose of welding gun | |
| CN105328304B (en) | Based on statistical weld seam starting point automatic localization method | |
| CN109693018A (en) | Autonomous mobile robot welding seam traking system and tracking | |
| CN108672907A (en) | The online method for correcting error of arc welding robot weld seam based on structured light visual sensing | |
| CN104816072B (en) | Method and system for laser measurement welding tracking of tiny joint seams of complex curved surface thin wall board | |
| CN106056603A (en) | Stereoscopic vision-based welding execution parameter on-line detection method | |
| CN114714029A (en) | Automatic arc welding method and device for aluminium alloy | |
| CN109685758B (en) | Weld visual positioning method based on multi-template matching | |
| CN117381105B (en) | Robot welding current control method and device, electronic equipment and storage medium | |
| CN109636859A (en) | A kind of scaling method of the 3D vision detection based on one camera | |
| Xia et al. | Real-time seam tracking during narrow gap GMAW process based on the wide dynamic vision sensing method | |
| CN112082482B (en) | Visual positioning method for workpiece with edge feature only, application and precision evaluation method | |
| CN113029168A (en) | Map construction method and system based on ground texture information and mobile robot | |
| CN112809130B (en) | Intelligent welding seam detection and trajectory planning method and system | |
| JPH09222913A (en) | Teaching position correcting device for robot | |
| JP2003154456A (en) | Automatic welding equipment | |
| JP3195850B2 (en) | Method and apparatus for measuring three-dimensional position on curved surface | |
| CN117444988B (en) | Method for confirming real starting point and end point of welding line under error of space positioning | |
| JP2523420B2 (en) | Image processing method in optical measuring device | |
| JP2583553B2 (en) | Reference position measurement method for body parts | |
| CN115468491A (en) | Cabin section butt joint measuring 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 |