CN112935541A - Laser tracking large-scale curved plate fillet welding system and method - Google Patents
Laser tracking large-scale curved plate fillet welding system and method Download PDFInfo
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- CN112935541A CN112935541A CN202110137894.9A CN202110137894A CN112935541A CN 112935541 A CN112935541 A CN 112935541A CN 202110137894 A CN202110137894 A CN 202110137894A CN 112935541 A CN112935541 A CN 112935541A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention belongs to the technical field of welding, and discloses a laser tracking large-scale curved plate fillet welding system and a method, wherein the laser tracking large-scale curved plate fillet welding system comprises: the device comprises a laser detection module, an image acquisition module, a temperature detection module, a humidity detection module, a display module, a central processing module, a transmission module, a cloud service module, a welding seam increasing and adjusting module, a welding seam positioning module, a temperature adjusting module and a data analysis and judgment module. According to the method for fillet welding of the large curved plate by laser tracking, provided by the invention, the track of a welding seam is obtained through a laser detection module; acquiring the characteristics of the welding seam through the image acquired by the image acquisition module; according to the track and the welding seam characteristics, the track of the welding seam can be effectively and accurately adjusted; through temperature detection module and humidity detection module, acquire the environmental status around the welding seam, avoid external environment to influence the orbit of welding seam. Meanwhile, the invention utilizes big data processing technology to process the data in the whole system, thereby improving the efficiency and accuracy.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a laser tracking large-scale curved plate fillet welding system and method.
Background
At present, when a large curved plate is welded, a fillet welding mode is adopted. Fillet welding refers to the process of joining two pieces of metal together vertically. These welds are commonly referred to as Tee joints-two perpendicular pieces of metal, or Lap joints-two overlapping and edge-welded pieces of metal. The shape of the weld is an aesthetically pleasing triangle, and the weld may have a concave, planar or convex surface depending on the welder's technique. Welders use fillet welds in connecting flanges to pipes, weld cross sections of the infrastructure, and are not strong enough and prone to wear when bolting metal. In order to accurately control the weld trajectory, the weld trajectory needs to be monitored.
However, in the prior art, during the fillet welding tracking process of the curved plate, the obtained data corresponding to the welding seam is single, and the welding seam track cannot be accurately controlled. Meanwhile, in the prior art, the fillet welding of the curved plate is tracked, and when data are processed, the data cannot be processed by using a big data processing technology, so that the efficiency and the accuracy of data processing are reduced.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) in the prior art, during the fillet welding tracking process of the curved plate, the corresponding data of the welding line is acquired only, and the welding line track cannot be accurately controlled.
(2) In the prior art, the fillet welding of the curved plate is tracked, and when data is processed, the data cannot be processed by using a big data processing technology, so that the efficiency and the accuracy of data processing are reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a laser tracking large-scale curved plate fillet welding system and a laser tracking large-scale curved plate fillet welding method.
The invention is realized in such a way that the fillet welding method of the laser tracking large-scale curved plate comprises the following steps:
the method comprises the following steps that firstly, a laser welding seam tracking sensor is utilized through a laser detection module to detect and collect the track information of the welding seam: the laser welding seam tracking sensor adopts a laser triangular reflection type, and a laser beam is amplified to form a laser line to be projected onto the surface of a measured object; the reflected light penetrates through the optical system and is projected onto an imaging matrix, and the distance from the sensor to the measured surface and the position information along the laser line are obtained through calculation; moving the measured object or the contourgraph probe to obtain a three-dimensional measured value; the distance data from the sensor to the measured surface is a Z axis, and the position information along the laser line is an X axis;
step two, acquiring the shape of a welding seam and the data of welding textures by using a CCD camera through an image acquisition module: graying the acquired image to determine an x, y and z three-dimensional image; carrying out image space normalization on the image by adopting a correction method, and determining the gradient of each pixel of the weld image; dividing the weld image into small areas, counting a gradient histogram of each cell, and describing each small area; forming an integral image by every several small areas, and connecting all HOG characteristic descriptions in the image in series to obtain the shape of a welding seam and the data of welding textures;
acquiring temperature data around the welding seam by using a temperature sensor through a temperature detection module; acquiring humidity data around the welding line by using a humidity sensor through a humidity detection module; according to the data collected by each module, a central processing module is respectively connected with a laser detection module, an image collection module, a temperature detection module, a humidity detection module, a display module, a transmission module, a welding seam increasing module, a welding seam positioning module, a temperature adjustment module and a data analysis and judgment module, and the central processing unit coordinately controls the normal operation of each module of the laser tracking large-scale curved plate fillet welding system;
analyzing and sharing data by using the set cloud server through the cloud service module: reading a table of a database of the cloud server and ER relation to form basic metadata; establishing a primary data sharing model based on the formed basic metadata, wherein the primary data sharing model divides data into common data, individual data and superposed data; establishing a secondary data sharing model and generating a data authorization mechanism; associating the primary data sharing model with the secondary data sharing model to construct a multi-system data sharing model; analyzing and sharing data by using the constructed multi-system data sharing model;
fifthly, a communication bridge of the central processing module and the cloud service module is built through the transmission module and the networking equipment, so that interaction of data information is realized; the display module is used for updating and displaying the detection result of the welding seam track, the acquired data of the shape and the welding texture of the welding seam, the temperature data around the welding seam, the humidity data around the welding seam, the interaction result of the data information, the welding seam increase and adjustment result, the welding seam positioning information, the temperature adjustment data and the on-hand data of the data analysis and judgment result by using the display;
sixthly, changing the track of the welding seam by using the welding gun through the welding seam adjusting and increasing module; positioning the corresponding welding points by using the welding seam track through a welding seam positioning module; adjusting the temperature around the weld joint by using a temperature adjuster through a temperature adjusting module; and analyzing, judging and evaluating the quality of the welding seam by using a welding seam quality evaluation program through a data analysis and judgment module.
Further, in the first step, the detecting and collecting of the trace information of the welding seam by the laser detection module and the laser welding seam tracking sensor further comprises:
(1) establishing a corresponding data set according to the obtained three-dimensional measurement value;
(2) and according to the data in the data set, the method is used for searching and positioning the welding line, tracking the welding line, controlling the self-adaptive welding parameters, detecting the formation of the welding line and transmitting the information to the welding gun hand unit in real time, so that the unmanned welding is realized.
Further, in the second step, when the welding seam image is shot by the CCD camera, the method comprises the following steps:
(1) the light reflected by the welding seam is transmitted to the CCD through a lens of the CCD camera;
(2) after the CCD is exposed, the photodiode is excited by light to release charges, and corresponding electric signals are obtained through the photosensitive element.
Further, in the second step, after the electrical signal is acquired by the light sensing element, the method further includes:
(1) the CCD control chip controls the current generated by the photodiode by using a control signal circuit in the photosensitive element;
(2) the current transmission circuit outputs the signals, and the CCD camera collects the electric signals generated by primary imaging and uniformly outputs the electric signals to the amplifier;
(3) the amplified and filtered electric signal is sent to an A/D, and the A/D converts the electric signal into a digital signal to obtain corresponding image data; wherein the electrical signal is an analog signal.
Further, in step four, after the reading of the table of the database of the cloud server and the ER relationship forms the basic metadata, the method further includes:
(1) adding comments to establish an ER relationship, and deleting a garbage table and a field in the metadata;
(2) and acquiring a page data resource directory and a mapping relation between the directory and a table in a database, and generating query sql.
Further, in step four, the establishing a secondary data sharing model and generating a data authorization mechanism include:
(1) authorizing a target to share the personalized data, a first target sharing system and a first data sharing mode through an attribution subject of the personalized data;
(2) and authorizing a target to share the superposed data, a second target sharing system and a second data sharing mode through the attribution subject of the superposed data.
Another object of the present invention is to provide a laser-tracking large curved plate fillet welding system for implementing the laser-tracking large curved plate fillet welding method, the laser-tracking large curved plate fillet welding system comprising:
the laser detection module is connected with the central processing module and is used for detecting the track of the welding seam through a laser welding seam tracking sensor;
the image acquisition module is connected with the central processing module and used for acquiring data of the shape and the welding texture of the welding seam through the camera;
the temperature detection module is connected with the central processing module and used for collecting the temperature around the welding line through a temperature sensor;
the humidity detection module is connected with the central processing module and used for acquiring the humidity around the welding line through a humidity sensor;
the display module is connected with the central processing module and used for updating and displaying a detection result of a welding seam track, acquired data of the shape and the welding texture of the welding seam, temperature data around the welding seam, humidity data around the welding seam, an interaction result of data information, a welding seam increase and increase result, welding seam positioning information, temperature adjustment data and on-hand data of a data analysis and judgment result through a display;
and the central processing module is respectively connected with the laser detection module, the image acquisition module, the temperature detection module, the humidity detection module, the display module, the transmission module, the welding seam increasing module, the welding seam positioning module, the temperature adjustment module and the data analysis and judgment module, and coordinates and controls the normal operation of each module of the laser tracking large-scale curved plate fillet welding system through the central processing unit.
Further, large-scale curved plate fillet welding system is trailed to laser still includes:
the transmission module is connected with the central processing module, and a communication bridge of the central processing module and the cloud service module is built through networking equipment to realize interaction of data information;
the cloud service module is connected with the transmission module and used for analyzing and sharing data through the cloud server;
the welding seam adjusting and increasing module is connected with the central processing module and changes the track of the welding seam by adjusting the welding gun;
the welding seam positioning module is connected with the central processing module and used for positioning the corresponding welding spot through a welding seam track;
the temperature adjusting module is connected with the central processing module and adjusts the temperature around the welding seam through the temperature adjuster;
and the data analysis and judgment module is connected with the central processing module and is used for analyzing, judging and evaluating the quality of the welding seam through a welding seam quality evaluation program.
Another object of the present invention is to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the laser tracking fillet welding method for large curved plates when executed on an electronic device.
It is another object of the present invention to provide a computer readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the laser tracking fillet welding method for large curved panels.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the method for fillet welding of the large curved plate by laser tracking, provided by the invention, the track of a welding seam is obtained through a laser detection module; acquiring the characteristics of the welding seam through the image acquired by the image acquisition module; according to the track and the welding seam characteristics, the track of the welding seam can be effectively and accurately adjusted; the environment state around the welding seam is obtained through the temperature detection module and the humidity detection module, and the influence of the external environment on the track of the welding seam is avoided; through the networking equipment, a communication bridge of the central processing module and the cloud service module is built, interaction of data information is achieved, data in the whole system are processed by the aid of a big data processing technology, and efficiency and accuracy are improved. Meanwhile, the data analysis and judgment module is arranged to evaluate the quality of the welding seam, so that the welding safety is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a fillet welding method for laser tracking of a large curved plate according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of a laser tracking fillet welding system for large curved plates according to an embodiment of the present invention;
in the figure: 1. a laser detection module; 2. an image acquisition module; 3. a temperature detection module; 4. a humidity detection module; 5. a display module; 6. a central processing module; 7. a transmission module; 8. a cloud service module; 9. a weld joint increasing module; 10. a weld positioning module; 11. a temperature adjustment module; 12. and a data analysis and judgment module.
Fig. 3 is a flowchart of a method for detecting and collecting trajectory information of a weld joint by using a laser weld joint tracking sensor through a laser detection module according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for acquiring data of a shape and a welding texture of a weld joint by using a CCD camera through an image acquisition module according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for analyzing and sharing data by a cloud service module using a set cloud server according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a system and a method for fillet welding of a laser tracking large-scale curved plate, and the invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, the fillet welding method for laser tracking of a large curved plate provided by the embodiment of the invention comprises the following steps:
s101, detecting and collecting track information of a welding seam by a laser detection module through a laser welding seam tracking sensor; acquiring the shape of a welding seam and the data of welding textures by using a CCD camera through an image acquisition module;
s102, acquiring temperature data around the welding seam by using a temperature sensor through a temperature detection module; acquiring humidity data around the welding line by using a humidity sensor through a humidity detection module;
s103, according to data collected by each module, connecting a central processing module with a laser detection module, an image collection module, a temperature detection module, a humidity detection module, a display module, a transmission module, a welding seam increasing module, a welding seam positioning module, a temperature adjustment module and a data analysis and judgment module respectively, and controlling normal operation of each module of the laser tracking large-scale curved plate fillet welding system in a coordinated manner through a central processing unit;
s104, a communication bridge of the central processing module and the cloud service module is built through the transmission module and the networking equipment, so that interaction of data information is realized; analyzing and sharing data by using the set cloud server through the cloud service module;
s105, updating and displaying the detection result of the welding seam track, the acquired data of the shape and the welding texture of the welding seam, the temperature data around the welding seam, the humidity data around the welding seam, the interaction result of the data information, the welding seam increase and adjustment result, the welding seam positioning information, the temperature adjustment data and the on-hand data of the data analysis and judgment result by using the display through the display module;
s106, changing the track of the welding seam by using the welding gun through the welding seam adjusting and increasing module; positioning the corresponding welding points by using the welding seam track through a welding seam positioning module;
s107, adjusting the temperature around the welding seam by using a temperature adjuster through a temperature adjusting module; and analyzing, judging and evaluating the quality of the welding seam by using a welding seam quality evaluation program through a data analysis and judgment module.
As shown in fig. 2, the system for fillet welding of a large curved plate by laser tracking according to an embodiment of the present invention includes:
and the laser detection module 1 is connected with the central processing module 6 and detects the track of the welding seam through a laser welding seam tracking sensor.
And the image acquisition module 2 is connected with the central processing module 6 and acquires data such as the shape of a welding seam, welding textures and the like through a camera.
And the temperature detection module 3 is connected with the central processing module 6 and used for collecting the temperature around the welding seam through a temperature sensor.
And the humidity detection module 4 is connected with the central processing module 6 and used for acquiring the humidity around the welding line through a humidity sensor.
The display module 5 is connected with the central processing module 6 and used for updating and displaying a detection result of a welding seam track, acquired data of the shape and welding texture of the welding seam, temperature data around the welding seam, humidity data around the welding seam, an interaction result of data information, a welding seam increase and increase result, welding seam positioning information, temperature adjustment data and hand data of a data analysis and judgment result through a display;
and the central processing module 6 is respectively connected with the laser detection module 1, the image acquisition module 2, the temperature detection module 3, the humidity detection module 4, the display module 5, the transmission module 7, the welding seam increasing and adjusting module 9, the welding seam positioning module 10, the temperature adjusting module 11 and the data analysis and judgment module 12, and coordinates and controls the normal operation of each module of the laser tracking large-scale curved plate fillet welding system through the central processing unit.
And the transmission module 7 is connected with the central processing module 6, and a communication bridge between the central processing module and the cloud service module is built through networking equipment, so that interaction of data information is realized.
And the cloud service module 8 is connected with the transmission module 7 and is used for analyzing and sharing data by being provided with a cloud server.
And the welding seam adjusting and increasing module 9 is connected with the central processing module 6, and changes the welding seam track by adjusting the welding gun.
And the welding seam positioning module 10 is connected with the central processing module 6 and used for positioning the corresponding welding spots through welding seam tracks.
And a temperature adjusting module 11 connected to the central processing module 6 for adjusting the temperature around the weld seam by a temperature adjuster.
And the data analysis and judgment module 12 is connected with the central processing module 6 and used for analyzing, judging and evaluating the quality of the welding seam through a welding seam quality evaluation program.
The invention is further described with reference to specific examples.
Example 1
The method for fillet welding of the laser tracking large-scale curved plate provided by the embodiment of the invention is shown in fig. 1, as a preferred embodiment, as shown in fig. 3, the method for detecting and collecting the track information of the weld joint by using the laser weld joint tracking sensor through the laser detection module provided by the embodiment of the invention comprises the following steps:
s201, a laser triangular reflection type is adopted by a laser welding seam tracking sensor, and a laser beam is amplified to form a laser line to be projected onto the surface of a measured object;
s202, the reflected light penetrates through the optical system and is projected onto an imaging matrix, and the distance from the sensor to the measured surface and the position information along the laser line are obtained through calculation;
s203, moving the measured object or the contourgraph probe to obtain a three-dimensional measured value; the distance data from the sensor to the measured surface is a Z axis, and the position information along the laser line is an X axis.
The embodiment of the invention provides a method for detecting and collecting the track information of a welding seam by a laser detection module and a laser welding seam tracking sensor, which further comprises the following steps:
(1) establishing a corresponding data set according to the obtained three-dimensional measurement value;
(2) and according to the data in the data set, the method is used for searching and positioning the welding line, tracking the welding line, controlling the self-adaptive welding parameters, detecting the formation of the welding line and transmitting the information to the welding gun hand unit in real time, so that the unmanned welding is realized.
Example 2
The method for fillet welding of the laser tracking large-scale curved plate provided by the embodiment of the invention is shown in fig. 1, as a preferred embodiment, as shown in fig. 4, the method for acquiring the shape of the welding seam and the data of the welding texture by using a CCD camera through an image acquisition module provided by the embodiment of the invention comprises the following steps:
s301, graying the acquired image and determining an x, y and z three-dimensional image; carrying out image space normalization on the image by adopting a correction method, and determining the gradient of each pixel of the weld image;
s302, dividing the weld image into small areas, counting a gradient histogram of each cell, and describing each small area;
and S303, forming an integral image by each small area, and connecting all HOG characteristic descriptions in the image in series to obtain the data of the shape and the welding texture of the welding seam.
The embodiment of the invention provides a method for shooting a weld image by using a CCD camera, which comprises the following steps:
(1) the light reflected by the welding seam is transmitted to the CCD through a lens of the CCD camera;
(2) after the CCD is exposed, the photodiode is excited by light to release charges, and corresponding electric signals are obtained through the photosensitive element.
After the embodiment of the present invention provides the method for acquiring an electrical signal by using a photosensitive element, the method further includes:
(1) the CCD control chip controls the current generated by the photodiode by using a control signal circuit in the photosensitive element;
(2) the current transmission circuit outputs the signals, and the CCD camera collects the electric signals generated by primary imaging and uniformly outputs the electric signals to the amplifier;
(3) the amplified and filtered electric signal is sent to an A/D, and the A/D converts the electric signal into a digital signal to obtain corresponding image data; wherein the electrical signal is an analog signal.
Example 3
As shown in fig. 1 and fig. 5, the method for fillet welding of a large curved plate by laser tracking according to an embodiment of the present invention, which is a preferred embodiment, for analyzing and sharing data by using a cloud server provided by a cloud service module, includes:
s401, reading a table of a database of a cloud server and ER relation to form basic metadata;
s402, establishing a primary data sharing model based on the formed basic metadata, wherein the primary data sharing model divides data into common data, individual data and superposed data;
s403, establishing a secondary data sharing model and generating a data authorization mechanism; associating the primary data sharing model with the secondary data sharing model to construct a multi-system data sharing model;
and S404, analyzing and sharing the data by using the constructed multi-system data sharing model.
After the table of the database of the cloud server and the ER relationship provided by the embodiment of the present invention are read to form the basic metadata, the method further includes:
(1) adding comments to establish an ER relationship, and deleting a garbage table and a field in the metadata;
(2) and acquiring a page data resource directory and a mapping relation between the directory and a table in a database, and generating query sql.
The establishment of the secondary data sharing model and the generation of the data authorization mechanism provided by the embodiment of the invention comprise the following steps:
(1) authorizing a target to share the personalized data, a first target sharing system and a first data sharing mode through an attribution subject of the personalized data;
(2) and authorizing a target to share the superposed data, a second target sharing system and a second data sharing mode through the attribution subject of the superposed data.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. The fillet welding method for the laser tracking large-scale curved plate is characterized by comprising the following steps of:
the method comprises the following steps that firstly, a laser welding seam tracking sensor is utilized through a laser detection module to detect and collect the track information of the welding seam: the laser welding seam tracking sensor adopts a laser triangular reflection type, and a laser beam is amplified to form a laser line to be projected onto the surface of a measured object; the reflected light penetrates through the optical system and is projected onto an imaging matrix, and the distance from the sensor to the measured surface and the position information along the laser line are obtained through calculation; moving the measured object or the contourgraph probe to obtain a three-dimensional measured value; the distance data from the sensor to the measured surface is a Z axis, and the position information along the laser line is an X axis;
step two, acquiring the shape of a welding seam and the data of welding textures by using a CCD camera through an image acquisition module: graying the acquired image to determine an x, y and z three-dimensional image; carrying out image space normalization on the image by adopting a correction method, and determining the gradient of each pixel of the weld image; dividing the weld image into small areas, counting a gradient histogram of each cell, and describing each small area; forming an integral image by every several small areas, and connecting all HOG characteristic descriptions in the image in series to obtain the shape of a welding seam and the data of welding textures;
acquiring temperature data around the welding seam by using a temperature sensor through a temperature detection module; acquiring humidity data around the welding line by using a humidity sensor through a humidity detection module; according to the data collected by each module, a central processing module is respectively connected with a laser detection module, an image collection module, a temperature detection module, a humidity detection module, a display module, a transmission module, a welding seam increasing module, a welding seam positioning module, a temperature adjustment module and a data analysis and judgment module, and the central processing unit coordinately controls the normal operation of each module of the laser tracking large-scale curved plate fillet welding system;
analyzing and sharing data by using the set cloud server through the cloud service module: reading a table of a database of the cloud server and ER relation to form basic metadata; establishing a primary data sharing model based on the formed basic metadata, wherein the primary data sharing model divides data into common data, individual data and superposed data; establishing a secondary data sharing model and generating a data authorization mechanism; associating the primary data sharing model with the secondary data sharing model to construct a multi-system data sharing model; analyzing and sharing data by using the constructed multi-system data sharing model;
fifthly, a communication bridge of the central processing module and the cloud service module is built through the transmission module and the networking equipment, so that interaction of data information is realized; the display module is used for updating and displaying the detection result of the welding seam track, the acquired data of the shape and the welding texture of the welding seam, the temperature data around the welding seam, the humidity data around the welding seam, the interaction result of the data information, the welding seam increase and adjustment result, the welding seam positioning information, the temperature adjustment data and the on-hand data of the data analysis and judgment result by using the display;
sixthly, changing the track of the welding seam by using the welding gun through the welding seam adjusting and increasing module; positioning the corresponding welding points by using the welding seam track through a welding seam positioning module; adjusting the temperature around the weld joint by using a temperature adjuster through a temperature adjusting module; and analyzing, judging and evaluating the quality of the welding seam by using a welding seam quality evaluation program through a data analysis and judgment module.
2. The method for fillet welding of the laser tracking large curved plate according to claim 1, wherein in the first step, the detection and collection of the track information of the weld seam is performed by a laser detection module and a laser weld seam tracking sensor, and the method further comprises:
(1) establishing a corresponding data set according to the obtained three-dimensional measurement value;
(2) and according to the data in the data set, the method is used for searching and positioning the welding line, tracking the welding line, controlling the self-adaptive welding parameters, detecting the formation of the welding line and transmitting the information to the welding gun hand unit in real time, so that the unmanned welding is realized.
3. The method for fillet welding of the laser tracking large curved plate according to claim 1, wherein in the second step, when capturing the welding seam image by using the CCD camera, the method comprises:
(1) the light reflected by the welding seam is transmitted to the CCD through a lens of the CCD camera;
(2) after the CCD is exposed, the photodiode is excited by light to release charges, and corresponding electric signals are obtained through the photosensitive element.
4. The method of claim 1, wherein in step two, after obtaining the electrical signal through the photosensitive device, the method further comprises:
(1) the CCD control chip controls the current generated by the photodiode by using a control signal circuit in the photosensitive element;
(2) the current transmission circuit outputs the signals, and the CCD camera collects the electric signals generated by primary imaging and uniformly outputs the electric signals to the amplifier;
(3) the amplified and filtered electric signal is sent to an A/D, and the A/D converts the electric signal into a digital signal to obtain corresponding image data; wherein the electrical signal is an analog signal.
5. The method for fillet welding of the laser tracking large curved plate according to claim 1, wherein in the fourth step, after the reading of the table of the database of the cloud server and the ER relationship form the basic metadata, the method further comprises:
(1) adding comments to establish an ER relationship, and deleting a garbage table and a field in the metadata;
(2) and acquiring a page data resource directory and a mapping relation between the directory and a table in a database, and generating query sql.
6. The method for fillet welding of the laser tracking large curved plate according to claim 1, wherein in step four, the establishing of the secondary data sharing model and the generating of the data authorization mechanism comprise:
(1) authorizing a target to share the personalized data, a first target sharing system and a first data sharing mode through an attribution subject of the personalized data;
(2) and authorizing a target to share the superposed data, a second target sharing system and a second data sharing mode through the attribution subject of the superposed data.
7. A laser-tracked large curved plate fillet welding system for implementing the laser-tracked large curved plate fillet welding method according to any one of claims 1 to 6, wherein the laser-tracked large curved plate fillet welding system comprises:
the laser detection module is connected with the central processing module and is used for detecting the track of the welding seam through a laser welding seam tracking sensor;
the image acquisition module is connected with the central processing module and used for acquiring data of the shape and the welding texture of the welding seam through the camera;
the temperature detection module is connected with the central processing module and used for collecting the temperature around the welding line through a temperature sensor;
the humidity detection module is connected with the central processing module and used for acquiring the humidity around the welding line through a humidity sensor;
the display module is connected with the central processing module and used for updating and displaying a detection result of a welding seam track, acquired data of the shape and the welding texture of the welding seam, temperature data around the welding seam, humidity data around the welding seam, an interaction result of data information, a welding seam increase and increase result, welding seam positioning information, temperature adjustment data and on-hand data of a data analysis and judgment result through a display;
and the central processing module is respectively connected with the laser detection module, the image acquisition module, the temperature detection module, the humidity detection module, the display module, the transmission module, the welding seam increasing module, the welding seam positioning module, the temperature adjustment module and the data analysis and judgment module, and coordinates and controls the normal operation of each module of the laser tracking large-scale curved plate fillet welding system through the central processing unit.
8. The laser-tracked large curved plate fillet welding system of claim 7, wherein the laser-tracked large curved plate fillet welding system further comprises:
the transmission module is connected with the central processing module, and a communication bridge of the central processing module and the cloud service module is built through networking equipment to realize interaction of data information;
the cloud service module is connected with the transmission module and used for analyzing and sharing data through the cloud server;
the welding seam adjusting and increasing module is connected with the central processing module and changes the track of the welding seam by adjusting the welding gun;
the welding seam positioning module is connected with the central processing module and used for positioning the corresponding welding spot through a welding seam track;
the temperature adjusting module is connected with the central processing module and adjusts the temperature around the welding seam through the temperature adjuster;
and the data analysis and judgment module is connected with the central processing module and is used for analyzing, judging and evaluating the quality of the welding seam through a welding seam quality evaluation program.
9. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for performing the laser tracking large curved plate fillet welding method according to any one of claims 1 to 6 when executed on an electronic device.
10. A computer readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the laser tracking large curved plate fillet welding method according to any one of claims 1 to 6.
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