CN113063348A - Structured light self-perpendicularity arc-shaped weld scanning method based on three-dimensional reference object - Google Patents
Structured light self-perpendicularity arc-shaped weld scanning method based on three-dimensional reference object Download PDFInfo
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- CN113063348A CN113063348A CN202110275161.1A CN202110275161A CN113063348A CN 113063348 A CN113063348 A CN 113063348A CN 202110275161 A CN202110275161 A CN 202110275161A CN 113063348 A CN113063348 A CN 113063348A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention discloses a structured light self-perpendicularity arc-shaped weld scanning method based on a three-dimensional reference object, which comprises the steps of firstly calibrating a camera and the three-dimensional reference object to obtain parameters converted from two dimensions to three dimensions, scanning a weld twice by using the structured light of the camera, obtaining a rough space three-dimensional curve of the weld under a three-dimensional reference object coordinate system through the first scanning, controlling the structured light to be perpendicular to the weld in the scanning process by using the curve obtained through the first scanning, controlling the weld to always fall within the length range of the structured light, and improving the extraction precision of characteristic points, and then fitting the extracted characteristic points into a two-dimensional curve under the camera coordinate, converting the two-dimensional curve into a three-dimensional welding curve under a welding robot coordinate system, and welding the welding seam by the welding robot according to the movement of the welding curve and improving the welding quality.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to a structured light self-perpendicularity arc-shaped weld joint scanning method based on a three-dimensional reference object.
Background
Welding is an industrial technique used to join metal bodies and is a common joining means in the field of industrial manufacturing. Since the thirties of the last century, welding methods such as arc welding, resistance welding, submerged arc welding, and carbon dioxide arc welding have been developed in industrial fields, but with the demand for production efficiency, from the eighties of the last century, robot welding has been gradually applied to industrial fields, replacing manual labor for repetitive work, and the welding efficiency and the degree of automation have been greatly improved.
The structured light vision measurement technology is developed based on a laser triangulation distance measurement principle and gradually becomes a mainstream vision measurement technology, has related application in multiple fields, can quickly obtain characteristic point coordinates of welding seams with different shapes, and has the characteristics of non-contact, high measurement precision, good real-time performance and the like.
The welding line is scanned by the mechanism light, and then a corresponding characteristic point extraction algorithm is combined, so that the space coordinate of the characteristic point is obtained and fed back to the robot, and welding is carried out.
Disclosure of Invention
The technical purpose is as follows: aiming at the defects that the extraction precision of characteristic points of an arc-shaped welding seam structured light scanning method is low, the welding seam missing scanning is easy to occur and the like in the prior art, the invention discloses a structured light self-perpendicular arc-shaped welding seam scanning method based on a three-dimensional reference object, which can enable structured light to always keep a perpendicular posture with a tangent line from the characteristic points of the arc-shaped welding seam and improve the extraction precision of the characteristic points of the welding seam.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
a structured light self-perpendicular arc-shaped weld scanning method based on a three-dimensional reference object comprises the following steps:
s01, firstly, calibrating the camera and the three-dimensional reference object, acquiring internal parameters and external parameters of the camera relative to the three-dimensional reference object, and converting the two-dimensional coordinates of the image shot by the camera into three-dimensional coordinates of the three-dimensional reference object through the internal parameters and the external parameters;
s02, scanning the welding seam through the structured light of the laser;
s03, carrying out gray processing on the image scanned by the camera, and extracting the two-dimensional coordinates of each point corresponding to the welding seam in the gray image;
s04, converting the two-dimensional coordinates of the welding seam on the grayed image in the step S03 into three-dimensional coordinates under a coordinate system of the three-dimensional reference object by using the internal parameters and the external parameters of the camera relative to the three-dimensional reference object obtained in the step S01, and obtaining a space three-dimensional curve of the welding seam;
and S05, converting the coordinates of the spatial three-dimensional curve of the welding seam into three-dimensional coordinates under a coordinate system of the welding robot to obtain a spatial track of welding operation, and welding by the welding robot according to the spatial track.
Preferably, in step S02 of the present invention, the structured light scanning is divided into two times, the first time is to scan the intersection point of the structured light and the weld, the second time is to adjust the direction and position of the structured light according to the spatial three-dimensional curve of the weld in the three-dimensional reference coordinate system obtained by the first structured light scanning, perform structured light vertical scanning on the weld, control the structured light to be perpendicular to the tangent at the scanning position, and then repeat steps S03 and S04 to obtain an accurate spatial three-dimensional curve of the weld.
Preferably, in step S02 of the present invention, the step of scanning the weld vertically by the structured light includes the steps of:
s021, scanning the first weld to obtain any point A' on a three-dimensional curve of the weld space; taking a tangent line L1 of the three-dimensional space curve of the welding seam as a passing point A', and marking the intersection point of the tangent line L1 and the plane on the three-dimensional reference object as a point C in the coordinate system of the three-dimensional reference object;
s022, drawing a straight line L2 parallel to the coordinate axis through the point C along the length direction of the welding seam; a perpendicular line L3 passing through the point A and serving as a tangent line L1, and an intersection point of the perpendicular line L3 and the straight line L2 is marked as a point B;
s023, adjusting the structured light of the camera to enable the structured light to be parallel to the perpendicular line L3 and pass through the point A', and scanning the welding seam;
s024, accurately extracting characteristic points according to the image vertically scanned by the structured light;
preferably, in step S023 of the present invention, the Z-axis coordinate of the point a' is between the Z-axis coordinates of the boundaries of both ends of the structured light.
Preferably, in step S024 of the present invention, the extraction of the feature point is performed by using the curvature jump of the structured light irradiated on the weld joint, and the two-dimensional coordinates of the precise feature point a1 are acquired.
Preferably, in step S03 of the present invention, the coordinates of the intersection of the structured light and the weld are extracted by using a data cursor tool.
Preferably, in step S04 of the present invention, the two-dimensional trajectory equation of the weld in the grayed image is fitted by using the two-dimensional coordinates obtained in step S03, and then the two-dimensional trajectory is converted into a spatial three-dimensional curve of the weld.
Has the advantages that: the structured light self-vertical arc-shaped weld scanning method based on the three-dimensional reference object has the following beneficial effects:
1. according to the invention, through two times of structured light scanning, the first time of scanning is carried out, the structured light of the camera is kept in contact with the welding seam, the preliminary characteristic points are extracted to form a preliminary welding seam space three-dimensional curve, the second time of scanning is carried out, the camera carries out accurate scanning according to the obtained preliminary welding seam space three-dimensional curve track, the structured light is scanned perpendicular to the welding seam, the extraction precision of the characteristic points is improved, and the welding quality is improved.
2. When the camera runs on a three-dimensional curve of a welding seam space to scan the welding seam, a straight line which passes through any scanning point and passes through the characteristic point and is perpendicular to the tangent line is found in a mode of drawing the curve tangent line on the scanning point and the characteristic point, structured light is adjusted to enable the structured light to be parallel to the straight line and pass through the point, the scanning direction of the structured light is perpendicular to the welding seam, the conversion relation of a foundation is input, the camera can run and adjust automatically, the automation degree is high, and the scanning efficiency is improved.
3. When the structured light is adjusted to be vertical to the welding line for scanning, the Z-axis coordinates of the feature points to be scanned are located between the Z-axis coordinates of the boundaries of the two ends of the structured light, so that the feature points can be scanned by the structured light, omission is avoided, and subsequent welding quality is guaranteed.
4. The method utilizes the curvature mutation of the structured light irradiated on the welding seam to extract the characteristic points, and has high extraction accuracy.
5. According to the method, the two-dimensional trajectory equation of the welding seam is fitted, then the two-dimensional trajectory is converted into the three-dimensional space curve, the two-dimensional coordinates of the characteristic points do not need to be converted into the three-dimensional coordinates separately, and then fitting is carried out, so that the conversion difficulty is reduced.
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.
FIG. 1 is a schematic view of the vertical scanning of the present invention.
Detailed Description
The present invention will be more clearly and completely described below by way of a preferred embodiment in conjunction with the accompanying drawings, without thereby limiting the scope of the invention to the described embodiment.
The invention provides a structured light self-perpendicular arc-shaped weld scanning method based on a three-dimensional reference object, which comprises the following steps:
s01, calibrating the camera and the stereo reference object to obtain the internal parameters of the camera relative to the stereo reference object
And extrinsic parameters
Wherein k isxIs the magnification factor, k, in the x-axis direction under the camera coordinate systemyIs the magnification factor in the y-axis direction under the camera coordinate system, (u)0，v0) The image coordinate of the optical axis central line of the laser at the intersection point of the imaging plane; (n)X，nY，nZ) Is the direction vector of the X axis of the coordinate system of the three-dimensional reference object under the coordinate system of the camera, (o)X，oY，oZ) Is the direction vector of the Y axis of the coordinate system of the three-dimensional reference object under the coordinate system of the camera, (a)X，aY，aZ) Is a direction vector, p, of a Z axis of a coordinate system of the three-dimensional reference object under a coordinate system of the cameraX，pY，pZRespectively is the coordinate of the origin of the coordinate system of the three-dimensional reference object in the coordinate system of the camera; converting the two-dimensional coordinates under the gray level image into three-dimensional coordinates under a three-dimensional reference object through an internal parameter M1 and an external parameter M2;
s02, scanning the welding seam through the structured light of the camera;
s03, performing gray scale processing on the image scanned by the camera, extracting the two-dimensional coordinates of each point corresponding to the welding seam in the gray scale image, and expressing the coordinates of any point as A (x)A，yA) Wherein x isA、yARespectively representing the abscissa and the ordinate of the point A under a two-dimensional coordinate system of the gray-scale image;
s04, converting the two-dimensional coordinates of the point A on the welding seam on the grayed image in the step S03 into the three-dimensional coordinates (X) of the corresponding point A' under the coordinate system of the three-dimensional reference object by using the internal parameter M1 and the external parameter M2 of the camera relative to the three-dimensional reference object obtained in the step S01w，Yw，Zw) Firstly, converting the two-dimensional coordinates of the gray level image point A into three-dimensional coordinates under a camera coordinate system:
wherein, x'A、y′A、z′ARespectively is a three-dimensional coordinate of the point A under a camera coordinate system; and then converting the three-dimensional coordinates under the camera coordinate system into the three-dimensional coordinates under the three-dimensional reference object coordinate system:
wherein Xw，Yw，ZwThe three-dimensional coordinate of the point A' corresponding to the point A in the three-dimensional reference object coordinate system is obtained, and each converted characteristic point is fitted to obtain a spatial three-dimensional curve of the welding line;
and S05, converting the coordinates of the spatial three-dimensional curve of the welding seam into three-dimensional coordinates under a coordinate system of the welding robot to obtain a spatial track of welding operation, and welding by the welding robot according to the spatial track.
In step S02, the structured light scans the weld joint twice, the first time of scanning is performed to keep the intersection point between the structured light and the weld joint, the second time of scanning is performed to adjust the direction and position of the structured light according to the spatial three-dimensional curve of the weld joint in the three-dimensional reference coordinate system obtained by the first time of scanning, the structured light is performed to vertically scan the weld joint, and then steps S03 and S04 are repeated to obtain an accurate spatial three-dimensional curve of the weld joint.
In step S02 of the present invention, the step of scanning the weld vertically by structured light includes the steps of:
s021, as shown in FIG. 1, in the embodiment, the three-dimensional reference object adopts a cuboid reference object with a known size, a coordinate system is established, and a workpiece to be welded is placed on the three-dimensional reference object to obtain a first-time scanned weld space three-dimensional curve; any point A '(X') on the three-dimensional curve of the welding seam space obtained by the first welding seam scanningA′，YA′，ZA′) Wherein X isA′，YA′，ZA′Respectively representing the three-dimensional coordinate values of the point A' under the coordinate system of the three-dimensional reference object; making tangent line of three-dimensional space curve of weld joint at passing point A
Wherein u is1、v1、w1The parameter of the tangent line L1 is the component of the directional vector of the straight line L1 on the three coordinate axes of X, Y, Z.
S022, combining the tangent line L1 with the analytic expression of the upper plane of the three-dimensional reference object,
wherein A is2、B2、C2D is a general coefficient of a plane equation on the stereo reference object; find the coordinate (X) of point C2，Y2，Z2) (ii) a Making a line parallel to the Y-axis at the upper plane passing point C
Wherein u is2、v2、w2The parameter is a straight line L2, and is a component of a direction vector of the straight line L2 on three coordinate axes of X, Y, Z; point a' is perpendicular L3 to line L1. Because there are numerous vertical lines that form a straight line at a point in space, in order to ensure that the structured light can be scanned onto the device in its entirety, the vertical line L3 intersects the straight line L2 at a point B (X)3，Y3，Z3) At this time, a unique perpendicular line is established
Wherein u is3、v3、w3The parameter is a perpendicular line L3, and is a component of the directional vector of the perpendicular line L3 on three coordinate axes of X, Y, Z.
S023, adjusting the structured light of the camera, performing weld scanning by using the structured light, adjusting the structured light of the camera to enable the structured light to be parallel to a vertical line L3 and pass through a point A', and performing weld scanning;
s024, extracting an accurate characteristic point A1 according to the image vertically scanned by the structured light;
the present invention makes the Z-axis coordinate Z of the point A' at step S023A′Between the Z-axis coordinates of the boundaries of the two ends of the structured light, assuming that the length of the structured light is L, the two end points are respectively represented by E and F, and the three-dimensional coordinates under the three-dimensional reference object coordinate system are respectively E (X)E，YE，ZE)，F(XF，YF，ZF)，ZE＜ZFThen Z isE＜Zw＜ZF(ii) a In the scanning process, the distance of the moving track of the camera and the distance of the welding line are not changed and are always structured light-curedStructured light positioned at a location is shone onto the feature points.
In step S024 of the present invention, feature points are extracted by using a curvature jump of the structural light irradiated on the weld joint, and a precise two-dimensional coordinate of the feature point a1 is obtained.
In step S04, the intersection coordinates of the structured light and the weld are extracted by using a data cursor tool, and a two-dimensional trajectory equation of the weld in the grayscale image can be fitted by using the two-dimensional coordinates obtained in step S03: y ═ p1x2+p2x+p3And p1, p2 and p3 are parameters of the welding seam curve, and then the two-dimensional track is converted into a space three-dimensional curve of the welding seam.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A structured light self-perpendicular arc-shaped weld scanning method based on a three-dimensional reference object is characterized by comprising the following steps: the method comprises the following steps:
s01, firstly, calibrating the camera and the three-dimensional reference object, acquiring internal parameters and external parameters of the camera relative to the three-dimensional reference object, and converting the two-dimensional coordinates of the image shot by the camera into three-dimensional coordinates of the three-dimensional reference object through the internal parameters and the external parameters;
s02, scanning the welding seam through the structured light of the laser;
s03, carrying out gray processing on the image scanned by the camera, and extracting the two-dimensional coordinates of each point corresponding to the welding seam in the gray image;
s04, converting the two-dimensional coordinates of the welding seam on the grayed image in the step S03 into three-dimensional coordinates under a coordinate system of the three-dimensional reference object by using the internal parameters and the external parameters of the camera relative to the three-dimensional reference object obtained in the step S01, and fitting to obtain a space three-dimensional curve of the welding seam;
and S05, converting the coordinates of the spatial three-dimensional curve of the welding seam into three-dimensional coordinates under a coordinate system of the welding robot to obtain a spatial track of welding operation, and welding by the welding robot according to the spatial track.
2. The structured light self-perpendicular arc-shaped weld scanning method based on the three-dimensional reference object according to claim 1, characterized in that: and in the step S02, the structured light scanning is divided into two times, the intersection point of the structured light and the welding seam is kept for scanning for the first time, the direction and the position of the structured light are adjusted for the second time according to the space three-dimensional curve of the welding seam under the three-dimensional reference object coordinate system obtained by the first structured light scanning, the structured light is vertically scanned for the welding seam, the structured light is controlled to be perpendicular to the tangent line at the scanning position, and then the steps S03 and S04 are repeated to obtain the accurate space three-dimensional curve of the welding seam.
3. The structured light self-perpendicular arc-shaped weld scanning method based on the three-dimensional reference object according to claim 2, characterized in that: in step S02, the structured light scanning the vertical welding seam includes:
s021, scanning the first weld to obtain any point A' on a three-dimensional curve of the weld space; taking the passing point A' as a tangent line L1 of a three-dimensional space curve of the welding seam, and marking the intersection point of the tangent line L1 and the plane on which the plane on the three-dimensional reference object is positioned in the coordinate system of the three-dimensional reference object as a point C;
s022, drawing a straight line L2 parallel to the coordinate axis through the point C along the length direction of the welding seam; a perpendicular line L3 passing through the point A and serving as a tangent line L1, and an intersection point of the perpendicular line L3 and the straight line L2 is marked as a point B;
s023, adjusting the structured light to enable the structured light to be parallel to the perpendicular line L3 and pass through the point A', and scanning the welding seam;
and S024, extracting characteristic points according to the image vertically scanned by the structured light.
4. The structured light self-perpendicular arc-shaped weld scanning method based on the three-dimensional reference object according to claim 3, characterized in that: in step S023, the Z-axis coordinate of the point a' is between the Z-axis coordinates of the boundaries of the two ends of the structured light.
5. The structured light self-perpendicular arc-shaped weld scanning method based on the three-dimensional reference object according to claim 3, characterized in that: in the step S024, feature points are extracted by using curvature jump of the structured light irradiated on the weld joint, and a precise two-dimensional coordinate of the feature point a1 is obtained.
6. The structured light self-perpendicular arc-shaped weld scanning method based on the three-dimensional reference object according to claim 1, characterized in that: in step S03, the coordinates of the intersection of the structured light and the weld are extracted by the data vernier tool.
7. The structured light self-perpendicular arc-shaped weld scanning method based on the three-dimensional reference object according to claim 1, characterized in that: in step S04, a two-dimensional trajectory equation of the weld in the grayed image is fitted by using the two-dimensional coordinates obtained in step S03, and then the two-dimensional trajectory is converted into a spatial three-dimensional curve of the weld.
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