CN113379704A - Component weld joint surface defect identification positioning and polishing method, controller and system - Google Patents
Component weld joint surface defect identification positioning and polishing method, controller and system Download PDFInfo
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- CN113379704A CN113379704A CN202110642376.2A CN202110642376A CN113379704A CN 113379704 A CN113379704 A CN 113379704A CN 202110642376 A CN202110642376 A CN 202110642376A CN 113379704 A CN113379704 A CN 113379704A
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- 230000007547 defect Effects 0.000 title claims abstract description 111
- 238000005498 polishing Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003466 welding Methods 0.000 claims abstract description 86
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 238000007689 inspection Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30152—Solder
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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Abstract
The invention relates to a method, a controller and a system for identifying, positioning and polishing surface defects of a component weld joint, wherein the method comprises the steps of shooting the surface of a weld joint to be detected after welding operation of a welding robot, and acquiring an image of the surface of the weld joint to be detected; analyzing the image of the surface of the welding seam to be detected to obtain the type of the defect of the surface of the welding seam to be detected and the position information of the defect of the surface of the welding seam to be detected; and determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by adopting a polishing robot. According to the invention, the position and type of the weld surface defect are directly determined through the vision sensor carried by the welding robot, and the position and type are transmitted to the polishing robot to implement polishing operation, so that the weld surface defect does not need to be manually detected, and the polishing robot can directly reach the weld defect to implement polishing. The work efficiency of identifying, positioning and polishing the weld surface defects of the large-scale component is improved.
Description
Technical Field
The invention belongs to the technical field of image recognition, and particularly relates to a method, a controller and a system for recognizing, positioning and polishing surface defects of a component welding seam.
Background
The manufacturing process of large equipment such as port machines, ships, engineering machinery and the like relates to the processing and manufacturing of a large number of large components and key processes such as welding, polishing and the like. It has become a necessary trend for manufacturing enterprises to actively seek robotic work to gradually replace manual work.
In the welding process of a large component robot, welding defects, particularly weld joint surface defects, can inevitably occur, and the appearance quality of a machined workpiece can be directly influenced, so that the defects need to be positioned and ground in the machining process. In the related art, after the robot finishes welding, the type and the position of the weld surface defect cannot be predicted, the type and the position of the weld defect need to be determined through manual inspection, and the robot is guided to reach the designated position and is polished. However, because the workpieces are large, the manual inspection of the welding line has low efficiency, and the problems of missing inspection, false inspection and the like and potential safety hazards also exist.
Disclosure of Invention
In view of the above, the present invention provides a method, a controller and a system for identifying, positioning and polishing a surface defect of a weld of a component, so as to solve the problems of missing detection and false detection in manual weld inspection in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for identifying, positioning and polishing surface defects of a component weld joint comprises the following steps:
after welding operation of the welding robot, shooting the surface of a weld joint to be detected to obtain an image of the surface of the weld joint to be detected;
analyzing the image of the surface of the welding seam to be detected to obtain the type of the defect of the surface of the welding seam to be detected and the position information of the defect of the surface of the welding seam to be detected;
and determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by adopting a polishing robot.
Further, the step of shooting the surface of the weld joint to obtain an image of the surface of the weld joint includes:
shooting the surface of a weld joint to be detected by adopting a visual sensor carried on the welding robot;
and acquiring an image of the surface of the weld joint to be detected.
Further, determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by using a polishing robot, the method comprises the following steps:
determining a grinding strategy and a grinding tool of the defect to be ground according to the defect type;
determining the position of the defect to be polished and polishing time according to the position information;
and moving the polishing robot to the position of the defect to be polished according to the polishing time, and polishing the defect to be polished by the polishing robot by using a polishing tool according to a polishing strategy.
Further, the method also comprises the following steps:
and if the surfaces of the welding seams to be detected comprise a plurality of welding seams, shooting and analyzing one by one until all the surfaces of the welding seams to be detected are analyzed.
Further, the defect types of the weld surface comprise:
beading, splashing, undercutting, crater.
An embodiment of the present application provides a controller, including:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method of any of the above embodiments.
The embodiment of the application provides a component welding seam surface defect discernment location and system of polishing, includes:
the controller provided in the above embodiment; and
the welding machine comprises a welding table, a first rail and a second rail, wherein the welding table is provided with the first rail and the second rail, the first rail is positioned at the inner side of the second rail, the first rail is provided with a cantilever beam carrying a welding robot, and the second rail is provided with a portal frame carrying a polishing robot;
the welding robot is provided with a visual camera.
By adopting the technical scheme, the invention can achieve the following beneficial effects:
the invention provides a method, a controller and a system for identifying, positioning and polishing surface defects of a component weld joint, wherein the method comprises the steps of shooting the surface of a weld joint to be detected after welding operation of a welding robot, and acquiring an image of the surface of the weld joint to be detected; analyzing the image of the surface of the welding seam to be detected to obtain the type of the defect of the surface of the welding seam to be detected and the position information of the defect of the surface of the welding seam to be detected; and determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by adopting a polishing robot. According to the invention, the position and type of the weld surface defect are directly determined through the vision sensor carried by the welding robot, and the position and type are transmitted to the polishing robot to implement polishing operation, so that the weld surface defect does not need to be manually detected, and the polishing robot can directly reach the weld defect to implement polishing. The work efficiency of identifying, positioning and polishing the weld surface defects of the large-scale component is improved.
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 drawings without creative efforts.
FIG. 1 is a schematic structural view of a surface defect identifying, positioning and polishing system for a weld joint of a component according to the present invention;
FIG. 2 is a schematic view of the steps of the method for identifying, locating and polishing the surface defects of the weld joints of the component according to the present invention;
FIG. 3 is a schematic flow chart of the method for identifying, positioning and polishing the surface defects of the weld joints of the member according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The following describes a specific method, controller and system for identifying, locating and polishing surface defects of a weld of a component provided in the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present application provides a system for identifying, positioning and polishing surface defects of a weld of a component, including: a controller; and
the welding machine comprises a welding table 1, wherein a first rail 2 and a second rail 3 are arranged on the welding table 1, the first rail 2 is positioned on the inner side of the second rail 3, a cantilever beam 4 carrying a welding robot 5 is arranged on the first rail 2, and a portal frame 6 carrying a polishing robot 7 is arranged on the second rail 3;
a vision sensor (not shown) is mounted on the welding robot 5.
It is understood that the number of the cantilever beams 4 carrying the welding robot 5 may be plural, and the present application is not limited thereto.
As shown in fig. 2, the controller is used for realizing the method for identifying, positioning and polishing the surface defects of the weld joints of the components, and comprises the following steps:
s101, after the welding robot 5 performs welding operation, shooting the surface of a weld joint to be detected to obtain an image of the surface of the weld joint to be detected;
s102, analyzing the image of the surface of the welding seam to be detected to obtain the defect type of the surface of the welding seam to be detected and the position information of the defect of the surface of the welding seam to be detected;
s103, determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by using the polishing robot 7.
The working principle of the component weld joint surface defect identification, positioning and polishing system is as follows: referring to fig. 3, the components are welded by welding them on a welding station 1. Be equipped with first track 2 and second track 3 on the welding bench 1, first track 2 is located 3 inboards of second track, and the component of treating the welding is placed to 2 inboards of first track, and cantilever beam 4 places on first track 2, carries on welding robot 5 on the cantilever beam 4, thereby cantilever beam 4 can make a round trip to slide on first track 2 and make things convenient for welding robot 5 to weld the component. After the welding robot 5 welds the component, a visual sensor on a polishing robot 7 carried on a portal frame 6 on the second track 3 shoots the surface of the weld to be detected to obtain an image of the surface of the weld to be detected; the vision sensor is connected with the controller for transmitting image information, the controller is used for processing the image information, the obtained welding seam surface defect position information and the defect type information are transmitted to the polishing robot 7 through a connecting line, and the controller controls the polishing robot 7 to finish the welding seam surface defect polishing operation. Wherein the controller is in communication connection with the grinding robot 7.
In some embodiments, the capturing the image of the weld surface to obtain the image of the weld surface includes:
shooting the surface of a weld joint to be detected by adopting a visual sensor carried on the welding robot 5;
and acquiring an image of the surface of the weld joint to be detected.
Wherein, the vision sensor can adopt a camera.
According to the method, the camera carried in the previous welding process is used for shooting the information of the surface condition of the welding seam, the type of the surface defect of the welding seam is identified through a template matching method or a deep learning method through an image processing method, and the spatial position of the defect is located based on data information of image calibration and robot hand-eye calibration. And the subsequent polishing robot 7 directly determines a polishing strategy and a tool according to the information and moves to the position of the weld defect to be polished to perform polishing operation. It can be understood that the template matching or deep learning method for identifying the weld surface defects can be implemented by adopting the prior art, and the details are not repeated herein.
In some embodiments, the determining, according to the defect type and the position information, a defect to be polished by using the polishing robot 7 includes:
determining a grinding strategy and a grinding tool of the defect to be ground according to the defect type;
determining the position of the defect to be polished and polishing time according to the position information;
and moving the polishing robot 7 to the position of the defect to be polished according to the polishing time, and polishing the defect to be polished by the polishing robot 7 by using a polishing tool according to a polishing strategy.
Specifically, after the welding operation is completed, the grinding robot 7 selects a proper grinding strategy and a grinding tool according to the type and the position information of the weld surface defect sent by the controller, on one hand, according to the defect type, and on the other hand, guides the portal frame 6 and the grinding robot 7 carried by the portal frame to move to the position of the defect to be ground according to the position of the weld surface defect, and implements the grinding operation according to the type of the defect until the requirement of grinding the weld surface defect is met.
In some embodiments, the method provided herein further comprises:
and if the surfaces of the welding seams to be detected comprise a plurality of welding seams, shooting and analyzing one by one until all the surfaces of the welding seams to be detected are analyzed.
Specifically, after the weld joint surface with the defects is polished, whether the next defect exists to be polished is judged, if so, the polishing robot 7 is continuously controlled to move to the specified weld joint surface defect position in time to polish until all the weld joint surfaces are polished.
In some embodiments, the weld surface defect mainly includes types of flash, spatter, undercut, crater, and the like, and the type of the weld surface defect is identified by a method such as template matching or deep learning through image processing of a weld image acquired by a camera mounted on the welding robot 5. Meanwhile, the position information of the weld surface defect can be determined by means of image calibration, robot hand eye calibration and the like, so that the weld surface defect positioning is completed. The weld surface defect type and position information may be transmitted to the polishing robot 7 through a communication line or a network.
An embodiment of the present application provides a controller, including:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method of any of the above embodiments.
Wherein, the controller can be arranged in the upper computer.
In summary, the invention provides a method, a controller and a system for identifying, positioning and polishing the surface defects of the welding seam of a component, wherein the method comprises the steps of shooting the surface of the welding seam to be detected after the welding operation of a welding robot, and acquiring an image of the surface of the welding seam to be detected; analyzing the image of the surface of the welding seam to be detected to obtain the type of the defect of the surface of the welding seam to be detected and the position information of the defect of the surface of the welding seam to be detected; and determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by adopting a polishing robot. According to the invention, the position and type of the weld surface defect are directly determined through the vision sensor carried by the welding robot, and the position and type are transmitted to the polishing robot to implement polishing operation, so that the weld surface defect does not need to be manually detected, and the polishing robot can directly reach the weld defect to implement polishing. The work efficiency of identifying, positioning and polishing the weld surface defects of the large-scale component is improved.
It is to be understood that the embodiments of the method provided above correspond to the embodiments of the apparatus described above, and the corresponding specific contents may be referred to each other, which is not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. A method for identifying, positioning and polishing surface defects of a component weld joint is characterized by comprising the following steps:
after welding operation of the welding robot, shooting the surface of a weld joint to be detected to obtain an image of the surface of the weld joint to be detected;
analyzing the image of the surface of the welding seam to be detected to obtain the type of the defect of the surface of the welding seam to be detected and the position information of the defect of the surface of the welding seam to be detected;
and determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by adopting a polishing robot.
2. The method of claim 1, wherein the step of capturing the weld surface to obtain an image of the weld surface comprises:
shooting the surface of a weld joint to be detected by adopting a visual sensor carried on the welding robot;
and acquiring an image of the surface of the weld joint to be detected.
3. The method according to claim 1 or 2, wherein the determining the defect to be polished according to the defect type and the position information, and polishing the defect to be polished by using a polishing robot comprises:
determining a grinding strategy and a grinding tool of the defect to be ground according to the defect type;
determining the position of the defect to be polished and polishing time according to the position information;
and moving the polishing robot to the position of the defect to be polished according to the polishing time, and polishing the defect to be polished by the polishing robot by using a polishing tool according to a polishing strategy.
4. The method of claim 3, further comprising:
and if the surfaces of the welding seams to be detected comprise a plurality of welding seams, shooting and analyzing one by one until all the surfaces of the welding seams to be detected are analyzed.
5. The method of claim 1, wherein the type of defect at the weld surface comprises:
beading, splashing, undercutting, crater.
6. A controller, comprising:
a memory having an executable program stored thereon;
a processor for executing the executable program in the memory to implement the steps of the method of any one of claims 1-5.
7. The utility model provides a component welding seam surface defect discernment location and system of polishing which characterized in that includes:
the controller of claim 6; and
the welding machine comprises a welding table, a first rail and a second rail, wherein the welding table is provided with the first rail and the second rail, the first rail is positioned at the inner side of the second rail, the first rail is provided with a cantilever beam carrying a welding robot, and the second rail is provided with a portal frame carrying a polishing robot;
the welding robot is provided with a visual camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110642376.2A CN113379704A (en) | 2021-06-09 | 2021-06-09 | Component weld joint surface defect identification positioning and polishing method, controller and system |
| CN202311372866.0A CN117392086A (en) | 2021-06-09 | 2021-06-09 | Component weld surface defect identification positioning and polishing system |
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| CN202110642376.2A CN113379704A (en) | 2021-06-09 | 2021-06-09 | Component weld joint surface defect identification positioning and polishing method, controller and system |
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| CN202311372866.0A Division CN117392086A (en) | 2021-06-09 | 2021-06-09 | Component weld surface defect identification positioning and polishing system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114260759A (en) * | 2021-12-03 | 2022-04-01 | 邯郸钢铁集团有限责任公司 | Efficient identification and finishing method for surface defects of casting blank |
| CN116117676A (en) * | 2023-04-17 | 2023-05-16 | 河北新泰鸿汽车零部件有限公司 | Part processing polishing machine and polishing process |
| CN117808814A (en) * | 2024-03-01 | 2024-04-02 | 深圳市新技智能设备有限公司 | Welding defect detection and identification method and system based on machine vision |
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2021
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| CN117808814A (en) * | 2024-03-01 | 2024-04-02 | 深圳市新技智能设备有限公司 | Welding defect detection and identification method and system based on machine vision |
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| CN117392086A (en) | 2024-01-12 |
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