CN113000988A - Processing method of visual welding tracking sensing system - Google Patents
Processing method of visual welding tracking sensing system Download PDFInfo
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- CN113000988A CN113000988A CN201911332333.3A CN201911332333A CN113000988A CN 113000988 A CN113000988 A CN 113000988A CN 201911332333 A CN201911332333 A CN 201911332333A CN 113000988 A CN113000988 A CN 113000988A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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Abstract
The invention discloses a processing method of a visual welding tracking sensing system, which relates to the technical field of industrial manufacturing and comprises the following steps: firstly, moving a laser generator to a welding initial position according to a program; then, laser stripes are emitted out by a laser generator and projected on the surface of the workpiece with the welding line to search for welding points; then, acquiring a welding seam image on the surface of the workpiece through a camera, and transmitting the welding seam image to a controller; the processing method provided by the invention can effectively avoid the interference of noise such as arc light, splashing, reflection and the like in the welding process, is convenient for identifying and tracking the position of the welding line, realizes the effect of strong anti-interference capability of the system, has high tracking precision, is beneficial to improving the efficiency and quality of the welding line, greatly improves the yield, reduces the production cost and is beneficial to increasing the production benefit.
Description
Technical Field
The invention belongs to the technical field of industrial manufacturing, and particularly relates to a processing method of a visual welding tracking sensing system.
Background
Welding is an important processing technology in the field of manufacturing industry, and has the characteristics of severe working conditions, large workload, high quality requirements and the like. Arc welding and laser welding are common welding process methods in the welding industry, and automatic control of welding by taking an arc and a laser beam as controlled objects is an important means for automation of welding. The accurate seam tracking is a precondition for ensuring welding quality, namely, a laser beam or an electric arc must be controlled to be always aligned with a seam in the whole welding process, otherwise, scrapping is caused. Therefore, it is necessary to accurately and automatically detect the position of the weld and perform automatic tracking. The machine vision inspection equipment is used as an important component of an industrial automation system, is used for detecting whether a product is qualified on an industrial site, has a series of advantages of high detection speed, high precision, non-contact, high automation degree and the like, is widely applied to a plurality of fields such as light industry, electronics, semiconductors, pharmacy, machinery and the like in recent years, and can well meet the detection requirements of the current processing and manufacturing industry. The machine vision technology not only can replace manual operation in the traditional processing and manufacturing industry, improve the automation level of industrial production, control the product quality and improve the labor productivity, but also plays an effective role in fields which cannot be realized in the aspect of conventional detection.
However, the processing method of the visual welding tracking sensing system in the current market is easily interfered by noises such as arc light, splashing, reflection and the like in the welding process in the using process, the identification and tracking of the welding seam position are influenced, the tracking precision is low, the welding rejection rate is high, the welding efficiency and quality are influenced, and in addition, the processing method of the existing visual welding tracking sensing system is low in applicability and high in cost, so that the production benefit is reduced.
Disclosure of Invention
The invention aims to provide a processing method of a visual welding tracking sensing system, which aims to solve the problems in the background technology and can achieve the effects of strong anti-interference capability, high tracking precision, strong applicability and high yield.
In order to achieve the purpose, the invention provides the following technical scheme: a visual weld tracking sensing system processing method, said visual weld tracking sensing system processing method comprising the steps of:
firstly, moving a laser generator to a welding initial position according to a program;
secondly, emitting laser stripes by a laser generator, and projecting the laser stripes on the surface of the workpiece with the welding line to search for welding points;
thirdly, acquiring a welding seam image on the surface of the workpiece through a camera, and transmitting the welding seam image to a controller;
fourthly, analyzing the acquired image by the controller, and adjusting the position of the welding seam tracking deviation correction axis according to the analysis result;
fifthly, adjusting the positions of the welding torch and the workpiece surface by the welding seam tracking deviation correcting shaft according to the instruction of the controller;
and step six, finally, controlling the welding robot to weld by the controller.
Preferably, the third step comprises the following specific steps:
(1) a camera collects a welding seam image;
(2) the vision processor reads the image collected by the camera;
(3) then, carrying out gray level transformation on the image to improve the image quality and enable the image to be displayed more clearly;
(4) and extracting and filtering a target area in the image to obtain a target image.
Preferably, the vision sensor comprises a laser generator and a camera, wherein the laser generator is used for emitting laser and the camera is used for collecting images of the welding seam.
Preferably, the vision sensor outputs the characteristic point coordinates to the controller through serial port communication, and coordinates of the welding seam characteristic coordinates in a controller coordinate system are obtained through coordinate conversion.
Preferably, the controller may drive the welding robot according to a teaching program, and simultaneously compare the welding characteristic coordinates sent by the vision sensor with the teaching position to obtain deviation correction.
Preferably, the step four, in which the controller analyzes the acquired image, specifically includes the steps of:
1) firstly, preprocessing the acquired image;
2) extracting a central line of a welding seam and characteristic points of the central line from the preprocessed image;
3) and calculating deviation based on the central line and the characteristic points of the central line.
Preferably, the center line in step 2) is extracted by a gray-scale square weighted gravity center method based on the light intensity distribution characteristics.
Preferably, the step 2) extracts the feature points of the central line by a method combining a douglas-pock algorithm and a least square method.
Compared with the prior art, the invention has the beneficial effects that:
(1) the processing method provided by the invention can effectively avoid the interference of noise such as arc light, splashing, reflection and the like in the welding process, is convenient for identifying and tracking the position of the welding line, realizes the effect of strong anti-interference capability of the system, has high tracking precision, is beneficial to improving the efficiency and quality of the welding line, greatly improves the yield, reduces the production cost and is beneficial to increasing the production benefit.
(2) The processing method provided by the invention is simple, convenient and strong in adaptability, can effectively increase the application range of the visual welding tracking sensing system, greatly improves the practicability of the visual welding tracking sensing system, and is worth popularizing and using.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
The invention provides a technical scheme that: a processing method of a visual welding tracking sensing system comprises the following steps:
firstly, moving a laser generator to a welding initial position according to a program;
secondly, emitting laser stripes by a laser generator, and projecting the laser stripes on the surface of the workpiece with the welding line to search for welding points;
thirdly, acquiring a welding seam image on the surface of the workpiece through a camera, and transmitting the welding seam image to a controller;
fourthly, analyzing the acquired image by the controller, and adjusting the position of the welding seam tracking deviation correction axis according to the analysis result;
fifthly, adjusting the positions of the welding torch and the workpiece surface by the welding seam tracking deviation correcting shaft according to the instruction of the controller;
and step six, finally, controlling the welding robot to weld by the controller.
Further, the third step comprises the following specific steps:
(1) a camera collects a welding seam image;
(2) the vision processor reads the image collected by the camera;
(3) then, carrying out gray level transformation on the image to improve the image quality and enable the image to be displayed more clearly;
(4) and extracting and filtering a target area in the image to obtain a target image.
Specifically, the vision sensor includes a laser generator for emitting laser light and a camera for acquiring an image of the weld.
It is worth mentioning that the vision sensor outputs the characteristic point coordinates to the controller through serial port communication, and coordinates of the welding seam characteristic coordinates in a controller coordinate system are obtained through coordinate conversion.
Furthermore, the controller can drive the welding robot according to a teaching program, and meanwhile, the welding characteristic coordinates sent by the vision sensor are compared with the teaching position to obtain deviation correction.
Specifically, the step four in which the controller analyzes the acquired image includes the specific steps of:
1) firstly, preprocessing the acquired image;
2) extracting a central line of a welding seam and characteristic points of the central line from the preprocessed image;
3) and calculating deviation based on the central line and the characteristic points of the central line.
It is worth mentioning that the center line in step 2) is extracted by using a gray-scale square weighted gravity center method based on the light intensity distribution characteristics.
Further, in the step 2), a method combining a Douglas-Pock algorithm and a least square method is adopted to extract characteristic points of the central line.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A processing method of a visual welding tracking sensing system is characterized by comprising the following steps: the processing method of the visual welding tracking sensing system comprises the following steps:
firstly, moving a laser generator to a welding initial position according to a program;
secondly, emitting laser stripes by a laser generator, and projecting the laser stripes on the surface of the workpiece with the welding line to search for welding points;
thirdly, acquiring a welding seam image on the surface of the workpiece through a camera, and transmitting the welding seam image to a controller;
fourthly, analyzing the acquired image by the controller, and adjusting the position of the welding seam tracking deviation correction axis according to the analysis result;
fifthly, adjusting the positions of the welding torch and the workpiece surface by the welding seam tracking deviation correcting shaft according to the instruction of the controller;
and step six, finally, controlling the welding robot to weld by the controller.
2. The visual weld tracking sensing system process of claim 1, wherein: the third step comprises the following specific steps:
(1) a camera collects a welding seam image;
(2) the vision processor reads the image collected by the camera;
(3) then, carrying out gray level transformation on the image to improve the image quality and enable the image to be displayed more clearly;
(4) and extracting and filtering a target area in the image to obtain a target image.
3. The visual weld tracking sensing system process of claim 1, wherein: the vision sensor comprises a laser generator and a camera, wherein the laser generator is used for emitting laser, and the camera is used for collecting an image of the welding seam.
4. The visual weld tracking sensing system process of claim 1, wherein: the vision sensor outputs the characteristic point coordinates to the controller through serial port communication, and coordinates of the welding seam characteristic coordinates in a controller coordinate system are obtained through coordinate conversion.
5. The visual weld tracking sensing system process of claim 1, wherein: the controller can drive the welding robot according to a teaching program, and meanwhile, the welding characteristic coordinate sent by the vision sensor is compared with a teaching position to obtain deviation correction.
6. The visual weld tracking sensing system process of claim 1, wherein: the step four, the specific steps of analyzing the acquired image by the controller are as follows:
1) firstly, preprocessing the acquired image;
2) extracting a central line of a welding seam and characteristic points of the central line from the preprocessed image;
3) and calculating deviation based on the central line and the characteristic points of the central line.
7. The visual weld tracking sensing system process of claim 6, wherein: the central line in the step 2) is extracted by adopting a gray-scale square weighted gravity center method based on the light intensity distribution characteristics.
8. The visual weld tracking sensing system process of claim 6, wherein: and 2) extracting the characteristic points of the central line by adopting a method combining a Douglas-Puck algorithm and a least square method.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113850802A (en) * | 2021-10-19 | 2021-12-28 | 内蒙古工业大学 | MATLAB-based automatic extraction method for welding arc characteristic spectral line image spectral data |
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| US20180015571A1 (en) * | 2014-12-30 | 2018-01-18 | Jiangsu University Of Science And Technology | Infrared vision sensing detection method and device for narrow-gap weld seam deviation |
| CN107824940A (en) * | 2017-12-07 | 2018-03-23 | 淮安信息职业技术学院 | Welding seam traking system and method based on laser structure light |
| CN108098134A (en) * | 2016-11-24 | 2018-06-01 | 广州映博智能科技有限公司 | A kind of new pattern laser vision weld joint tracking system and method |
| CN110480127A (en) * | 2019-08-12 | 2019-11-22 | 广东工业大学 | A kind of seam tracking system and method based on structured light visual sensing |
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- 2019-12-22 CN CN201911332333.3A patent/CN113000988A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2740335Y (en) * | 2004-12-02 | 2005-11-16 | 中国科学院自动化研究所 | Weld tracking visual sensor based on laser structural light |
| CN1782659A (en) * | 2004-12-02 | 2006-06-07 | 中国科学院自动化研究所 | Welding seam tracking sight sensor based on laser structure light |
| US20180015571A1 (en) * | 2014-12-30 | 2018-01-18 | Jiangsu University Of Science And Technology | Infrared vision sensing detection method and device for narrow-gap weld seam deviation |
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