CN114192948A - Method for scanning various short welding seams with low teaching quantity - Google Patents
Method for scanning various short welding seams with low teaching quantity Download PDFInfo
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- CN114192948A CN114192948A CN202111576026.7A CN202111576026A CN114192948A CN 114192948 A CN114192948 A CN 114192948A CN 202111576026 A CN202111576026 A CN 202111576026A CN 114192948 A CN114192948 A CN 114192948A
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/06—Resistance welding; Severing by resistance heating using roller electrodes
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
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Abstract
The invention discloses a method for scanning various short welding lines with low teaching quantity, and S1, the starting point is determined as follows: positioning and determining the starting point and the ending point of the required processing product by using a positioning motion device, and S2, laser scanning: the external action mechanism drives the laser vision sensor to move to the initial point in a positioning mode, laser is started to start scanning from a position without a welding seam, the position without the welding seam is closed when the welding seam is finished, the scanning of the welding seam is achieved, and S3 and coordinate determination are carried out: in the laser scanning process, the corresponding scanned points are transmitted to an algorithm module for coordinate calculation, and the invention relates to the technical field of seam welding. The method for scanning various short welding seams with low teaching amount not only realizes the operation of scanning and then welding, but also effectively realizes the input of multi-welding seam characteristic points, so that the welding points are more accurate, and the number of teaching points is greatly reduced, thereby improving the product quality after the short welding seam method is processed.
Description
Technical Field
The invention relates to the technical field of seam welding, in particular to a method for scanning various short welding seams with low teaching quantity.
Background
Seam welding refers to a resistance welding method in which a weldment is assembled into a lap joint or a butt joint and is placed between two roller electrodes, rollers pressurize and rotate the weldment, and power is continuously or intermittently supplied to form a continuous weld. It uses disc electrode to replace spot welding cylinder electrode to do relative movement with workpiece. The welding method is mainly used for welding oil drums, cans, automobile oil tanks and the like. The electric resistance welding method is called seam welding, in which the weldment is assembled into a lap joint or an oblique butt joint and placed between two roller electrodes, the rollers press and rotate the weldment, and power is continuously or intermittently supplied to form a continuous weld seam. Seam welding is a welding method in which a pair of rolling disc electrodes are used in place of spot-welded cylindrical electrodes to move relative to a workpiece, thereby producing a sealed weld bead in which nuggets overlap one another.
The existing short welding seam operation has the following problems:
1. when the welding line with the uneven surface is tracked and welded, the detected characteristic points are unstable, and the finally obtained starting point and tail point coordinate precision is not high;
2. when the shape of a welding seam is changed from a short straight line to an arc corner and then to a short straight line in the scanning welding process, the starting end points of a plurality of sections of welding seams cannot be combined and output;
3. scanning a welding seam, and then in the welding process, effectively smoothing the scanning track point, so that a starting point and an end point cannot be accurately found;
4. the used locating mode point searching requires a great deal of teaching work.
Therefore, the invention provides a method for scanning various short welding seams with low teaching amount.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for scanning various short welding seams with low teaching quantity, which solves the problem that the coordinate precision of the starting point and the tail point obtained by the conventional short welding seam operation is not high; the starting end points of a plurality of sections of welding seams cannot be combined and output; the used locating mode point searching needs a great deal of teaching work.
In order to achieve the purpose, the invention is realized by the following technical scheme: a method for scanning various short welding seams with low teaching amount specifically comprises the following steps:
s1, determining a starting point: positioning and determining a starting point and an end point of a required processing product by using a positioning motion device;
s2, laser scanning: an external action mechanism drives a laser vision sensor to move to a starting point in a positioning manner, and laser is started to start scanning from a position without a welding seam and close to a position without the welding seam after the welding seam is finished, so that the scanning of the welding seam is realized;
s3, coordinate determination: in the laser scanning process, transmitting the corresponding scanned points to an algorithm module for calculating coordinates;
s4, welding operation: and transmitting the determined spatial coordinates of the welding points to an external action mechanism, and realizing short welding seam track welding work by the external action mechanism.
Preferably, in S1, the positioning motion device moves, the laser and the sensor are used for scanning transmission, and high-definition cameras are installed on two sides of the top of the required welding product to shoot, so as to determine the coordinates of the starting point and the ending point.
Preferably, during the laser scanning in S2, the starting feature point is extracted from the beginning in the process of existence, the feature point calculated for each frame of image is obtained, the feature points are stored, the head and tail coordinate points of the weld are obtained by smoothing after the scanning is finished, and the feature points are extracted from the end of the scanning process of existence.
Preferably, in S3, the external action mechanism is replenished with the starting point and the end point during the laser scanning, and the acquired and analyzed data is transmitted to the external action mechanism system to obtain the corrected starting point and end point, so as to determine the required welding characteristics.
Preferably, the calculation steps of the coordinates of the welding point required by the algorithm module in S3 are as follows:
s3-1, setting welding points: setting the coordinates of to-be-welded points of the spatial welding lines as P (Xw, Yw, Zw), and setting the pixel coordinates of the to-be-welded points of the spatial welding lines on the left and right camera images as PL (ul, vl) and PR (ur, vr) respectively;
s3-2, calculating coordinates of the welding spot: and calculating a formula for the coordinate of the to-be-welded point, converting the formula through parameter consistency, and finally calculating the coordinate of the to-be-welded point through a least square method.
Preferably, the formula involved in S3-2 is:
wherein, Cl1 and Cr1 are internal references of the left camera and the right camera respectively, Cl2 is an external reference of the left camera relative to the world coordinate system, Cr2 is an external reference of the right camera relative to the world coordinate system, a space transformation matrix of the right camera relative to the left camera is [ R, t ], then Cr2 is Cl2[ R, t ], and likewise, Cl2 can be calibrated by hands and eyes, and a welding torch is used as a target origin of the world coordinate system;
now that all parameters in Cl1, Cl2, and Cr2 are known, let Cl1Cl2 be M1, and Cr1Cr2 be M2, to obtain the formula:
preferably, the formula obtained in S3-2 is combined to eliminate Zl and Zr, so as to obtain the following four linear equations:
(ii) a Solving three unknowns Xw, Yw and Zw according to the four equations, and solving a unique solution through a least square method to obtain a space coordinate of a point to be welded in a space by using a welding torch as the origin of a world coordinate system.
Preferably, in S4, the short-time welding operation is performed on the output coordinate points, and the selection is performed according to the input feature points of different postures, so as to achieve smooth welding.
Advantageous effects
The invention provides a method for scanning various short welding lines with low teaching amount. Compared with the prior art, the method has the following beneficial effects:
the method for scanning various short welding seams with low teaching amount comprises the following steps of S1 setting, and determining a starting point: positioning and determining the starting point and the ending point of the required processing product by using a positioning motion device, and S2, laser scanning: the external action mechanism drives the laser vision sensor to move to the initial point in a positioning mode, laser is started to start scanning from a position without a welding seam, the position without the welding seam is closed when the welding seam is finished, the scanning of the welding seam is achieved, and S3 and coordinate determination are carried out: during the laser scanning process, transmitting the corresponding scanned point to an algorithm module for calculating coordinates, and S4, performing a welding operation: the determined spatial coordinates of the welding spots are transmitted to an external action mechanism, short welding seam track welding work is realized by the external action mechanism, the operation of scanning and welding is realized, the input of multi-welding seam feature points is effectively realized, the welding points are more accurate, the number of teaching points is greatly reduced, and the product quality after the short welding seam method is processed is improved.
Drawings
FIG. 1 is a process flow diagram of the welding method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a method for scanning various short welding seams with low teaching amount specifically comprises the following steps:
s1, determining a starting point: positioning and determining a starting point and an end point of a required processing product by using a positioning motion device;
s2, laser scanning: an external action mechanism drives a laser vision sensor to move to a starting point in a positioning manner, and laser is started to start scanning from a position without a welding seam and close to a position without the welding seam after the welding seam is finished, so that the scanning of the welding seam is realized;
s3, coordinate determination: in the laser scanning process, transmitting the corresponding scanned points to an algorithm module for calculating coordinates;
s4, welding operation: and transmitting the determined spatial coordinates of the welding points to an external action mechanism, and realizing short welding seam track welding work by the external action mechanism.
In the embodiment of the invention, in the step S1, the positioning motion device moves, the laser and the sensor are used for scanning and transmitting, high-definition cameras are arranged on two sides of the top of the required welding product for shooting, and the coordinates of the starting point and the ending point are determined.
In the embodiment of the invention, during laser scanning in S2, the initial feature points are extracted from the beginning in the process of existence, the feature points calculated by each frame of image are obtained, the feature points are stored and smoothed after the scanning is finished to obtain the head and tail coordinate points of the welding line, and the feature points are extracted from the end of the scanning process of existence.
In the embodiment of the present invention, in S3, the external action mechanism is replenished with the starting point and the end point during laser scanning, and the acquired and analyzed data is transmitted to the external action mechanism system to obtain the corrected starting point and end point, so as to determine the required welding characteristics.
In the embodiment of the present invention, the calculation steps of the welding point coordinates required by the algorithm module in S3 are as follows:
s3-1, setting welding points: setting the coordinates of to-be-welded points of the spatial welding lines as P (Xw, Yw, Zw), and setting the pixel coordinates of the to-be-welded points of the spatial welding lines on the left and right camera images as PL (ul, vl) and PR (ur, vr) respectively;
s3-2, calculating coordinates of the welding spot: and calculating a formula for the coordinate of the to-be-welded point, converting the formula through parameter consistency, and finally calculating the coordinate of the to-be-welded point through a least square method.
In the embodiment of the present invention, the formula involved in S3-2 is:
wherein, Cl1 and Cr1 are internal references of the left camera and the right camera respectively, Cl2 is an external reference of the left camera relative to the world coordinate system, Cr2 is an external reference of the right camera relative to the world coordinate system, a space transformation matrix of the right camera relative to the left camera is [ R, t ], then Cr2 is Cl2[ R, t ], and likewise, Cl2 can be calibrated by hands and eyes, and a welding torch is used as a target origin of the world coordinate system;
now that all parameters in Cl1, Cl2, and Cr2 are known, let Cl1Cl2 be M1, and Cr1Cr2 be M2, to obtain the formula:
in the embodiment of the invention, the formulas obtained in S3-2 are combined to eliminate ZL and Zr, so that the following four linear equations are obtained:
(ii) a Solving three unknowns Xw, Yw and Zw according to the four equations, and solving a unique solution through a least square method to obtain a space coordinate of a point to be welded in a space by using a welding torch as the origin of a world coordinate system.
In the embodiment of the invention, in the step S4, short welding operation is performed through the output coordinate points, and selection is performed according to the input feature points of different postures, so as to realize smooth welding.
In conclusion, through the operation flow of the initial point determination, the laser scanning, the coordinate determination and the welding operation, the operation of scanning before welding is realized, the input of the multi-weld characteristic points is effectively realized, the welding point is more accurate, the number of teaching points is greatly reduced, and the product quality processed by the short-weld method is improved.
And those not described in detail in this specification are well within the skill of those in the art.
When the laser scanning device works, firstly, a position searching function is used, the starting point and the ending point of the moving device are roughly positioned in the advancing direction, the moving device drives the laser sensor to start scanning from a position without a welding seam, and close to the position without the welding seam after the welding seam is finished, and then the scanning is finished. And starting to extract initial characteristic points in the process from existence to existence, acquiring characteristic points calculated by each frame of image, storing the characteristic points, performing smoothing treatment after the scanning is finished to obtain head and tail coordinate points of the welding line, and extracting the characteristic points in the process from existence to nonexistence. And after the acquisition and analysis are finished, the starting point and the end point are supplied to the external action mechanism, and the external action mechanism system acquires the corrected starting point and the corrected end point.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
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 method for scanning various short welding seams with low teaching amount is characterized in that: the method specifically comprises the following steps:
s1, determining a starting point: positioning and determining a starting point and an end point of a required processing product by using a positioning motion device;
s2, laser scanning: an external action mechanism drives a laser vision sensor to move to a starting point in a positioning manner, and laser is started to start scanning from a position without a welding seam and close to a position without the welding seam after the welding seam is finished, so that the scanning of the welding seam is realized;
s3, coordinate determination: in the laser scanning process, transmitting the corresponding scanned points to an algorithm module for calculating coordinates;
s4, welding operation: and transmitting the determined spatial coordinates of the welding points to an external action mechanism, and realizing short welding seam track welding work by the external action mechanism.
2. The method of claim 1 for scanning multiple short welds with low teaching effort, comprising: and in the step S1, the welding machine moves through a positioning motion device, scans and transmits by utilizing a laser and a sensor, and is provided with high-definition cameras at two sides of the top of a required welding product for shooting, so as to determine the coordinates of the starting point and the ending point.
3. The method of claim 1 for scanning multiple short welds with low teaching effort, comprising: during laser scanning in the step S2, starting to extract initial feature points in the process from the beginning to the end, obtaining feature points calculated for each frame of image, storing the feature points, waiting for the end of scanning, performing smoothing processing to obtain head and tail coordinate points of a weld, and extracting the feature points after the end of the scanning process from the end to the end.
4. The method of claim 1 for scanning multiple short welds with low teaching effort, comprising: in S3, the external action mechanism is replenished with the starting point and the end point during laser scanning, and the acquired and analyzed data is transmitted to the external action mechanism system to obtain the corrected starting point and end point, so as to determine the required welding characteristics.
5. The method of claim 1 for scanning multiple short welds with low teaching effort, comprising: the calculation steps of the welding point coordinates required by the algorithm module in the S3 are as follows:
s3-1, setting welding points: setting the coordinates of to-be-welded points of the spatial welding lines as P (Xw, Yw, Zw), and setting the pixel coordinates of the to-be-welded points of the spatial welding lines on the left and right camera images as PL (ul, vl) and PR (ur, vr) respectively;
s3-2, calculating coordinates of the welding spot: and calculating a formula for the coordinate of the to-be-welded point, converting the formula through parameter consistency, and finally calculating the coordinate of the to-be-welded point through a least square method.
6. The method of claim 5 for scanning multiple short welds with low teaching effort, comprising: the formula involved in S3-2 is:
wherein, Cl1 and Cr1 are internal references of the left camera and the right camera respectively, Cl2 is an external reference of the left camera relative to the world coordinate system, Cr2 is an external reference of the right camera relative to the world coordinate system, a space transformation matrix of the right camera relative to the left camera is [ R, t ], then Cr2 is Cl2[ R, t ], and likewise, Cl2 can be calibrated by hands and eyes, and a welding torch is used as a target origin of the world coordinate system;
now that all parameters in Cl1, Cl2, and Cr2 are known, let Cl1Cl2 be M1, and Cr1Cr2 be M2, to obtain the formula:
7. the method of claim 5 for scanning multiple short welds with low teaching effort, comprising: the formulas obtained in the S3-2 are combined to eliminate ZL and Zr, and the following four linear equations are obtained:
solving three unknowns Xw, Yw and Zw according to the four equations, and solving a unique solution through a least square method to obtain a space coordinate of a point to be welded in a space by using a welding torch as the origin of a world coordinate system.
8. The method of claim 1 for scanning multiple short welds with low teaching effort, comprising: and in the step S4, short-time welding operation is carried out through the output coordinate points, and selection is carried out according to the input feature points of different postures, so that smooth welding is realized.
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| KR100859334B1 (en) * | 2006-12-29 | 2008-09-19 | 삼성중공업 주식회사 | The method and system for tracking welding line and detecting end-point using arc-sensor and laser vision sensor |
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