CN114494424A - Welding guiding method and device based on vision - Google Patents
Welding guiding method and device based on vision Download PDFInfo
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- CN114494424A CN114494424A CN202210390934.5A CN202210390934A CN114494424A CN 114494424 A CN114494424 A CN 114494424A CN 202210390934 A CN202210390934 A CN 202210390934A CN 114494424 A CN114494424 A CN 114494424A
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- G—PHYSICS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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Abstract
The application relates to the technical field of welding processes, and discloses a welding guiding method and device based on vision. According to the scheme provided by the application, a camera coordinate can be obtained when the camera moves in a three-dimensional space, and when the camera moves to a certain position in the three-dimensional space, the two-dimensional pixel coordinate of the target welding point is determined, so that welding guidance can be accurately finished.
Description
Technical Field
The application relates to the technical field of welding processes, in particular to a welding guiding method and device based on vision.
Background
Welding, also known as fusion or melting, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure.
With the progress and scientific development of society, the requirement on the efficiency of welding processing is higher and higher, and the automatic welding production is gradually replacing the traditional manual production, so a method for guiding welding is needed.
Disclosure of Invention
The application discloses a welding guiding method and device based on vision, which are used for solving the technical problem that the prior art is lack of the welding guiding method.
The application discloses in a first aspect a vision-based welding guidance method, comprising:
transforming the three-dimensional coordinates of the camera to a preset reference surface, and determining the corresponding relation between the reference surface and a two-dimensional virtual pixel coordinate system, wherein the Z axis of the reference surface is 0;
acquiring homogeneous coordinates of a camera when the camera shoots a welding image;
determining two-dimensional pixel coordinates of a target welding point in the welding image according to the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system and the homogeneous coordinates of the camera;
and guiding welding according to the two-dimensional pixel coordinates of the target welding point.
Optionally, the reference surface has a matrix with a length of 2cm and a width of 2cm and is arranged at 3 × 3.
Optionally, the determining a corresponding relationship between the reference plane and the two-dimensional virtual pixel coordinate system includes:
and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector.
Optionally, the determining, according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix, and a preset translation vector, a corresponding relationship between the reference plane and the two-dimensional virtual pixel coordinate system includes:
determining a correspondence between the reference plane and a two-dimensional virtual pixel coordinate system by the following formula:
wherein,
the coefficient of variation is represented by a coefficient of variation,
representing homogeneous coordinates of two-dimensional camera plane pixels,
a reference matrix within the camera is represented,
a matrix of rotations is represented, which is,
a translation vector is represented that represents the translation vector,
representing the homogeneous coordinates of the camera.
Optionally, the camera internal reference matrix includes camera internalization parameters, and the camera internalization parameters are determined according to the size of the camera chip and the resolution of the image captured by the camera.
In a second aspect of the present application, a vision-based welding guidance apparatus is disclosed, which is applied to the vision-based welding guidance method disclosed in the first aspect of the present application, and includes:
the system comprises a coordinate system changing module, a two-dimensional virtual pixel coordinate system and a three-dimensional coordinate system generating module, wherein the coordinate system changing module is used for converting the three-dimensional coordinate of the camera to a preset reference surface and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system, and the Z axis of the reference surface is 0;
the camera coordinate acquisition module is used for acquiring homogeneous coordinates of the camera when the camera shoots a welding image;
the welding point coordinate determination module is used for determining the two-dimensional pixel coordinate of the target welding point in the welding image according to the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system and the homogeneous coordinate of the camera;
and the welding guide module is used for guiding welding according to the two-dimensional pixel coordinates of the target welding point.
Optionally, the reference surface has a matrix with a length of 2cm and a width of 2cm and is arranged at 3 × 3.
Optionally, the coordinate system change module is configured to:
and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector.
Optionally, the coordinate system change module is configured to determine a correspondence between the reference plane and the two-dimensional virtual pixel coordinate system according to the following formula:
wherein,
the coefficient of variation is represented by a coefficient of variation,
representing homogeneous coordinates of two-dimensional camera plane pixels,
a reference matrix within the camera is represented,
a matrix of rotations is represented, which is,
a translation vector is represented that represents the translation vector,
presentation cameraHomogeneous coordinates of (a).
Optionally, the camera internal reference matrix includes camera internalization parameters, and the camera internalization parameters are determined according to the size of the camera chip and the resolution of the image captured by the camera.
The application relates to the technical field of welding processes, and discloses a welding guiding method and device based on vision. According to the scheme provided by the application, when the camera moves in the three-dimensional space, a camera coordinate can be obtained, and when the camera moves to a certain position in the three-dimensional space, the two-dimensional pixel coordinate of the target welding point is determined, so that welding guidance can be accurately finished.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic workflow diagram of a visual-based welding guidance method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a vision-based welding guiding device disclosed in an embodiment of the present application.
Detailed Description
In order to solve the technical problem of lack of a welding guiding method in the prior art, the present application discloses a welding guiding method and device based on vision through the following embodiments.
The first embodiment of the present application discloses a visual-based welding guidance method, which, with reference to the workflow diagram shown in fig. 1, includes:
the principle is that a two-dimensional virtual pixel coordinate system is obtained according to a three-dimensional coordinate system of a camera, so that two-dimensional pixel coordinates of a target welding point are obtained, and welding is guided.
And step S1, transforming the three-dimensional coordinates of the camera to a preset reference plane, and determining the corresponding relation between the reference plane and a two-dimensional virtual pixel coordinate system, wherein the Z axis of the reference plane is 0.
In some embodiments of the present application, the datum plane has a 2cm long by 2cm wide matrix and is 3x3 aligned thereon.
In some embodiments of the present application, the determining a correspondence between the reference plane and a two-dimensional virtual pixel coordinate system includes:
and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector.
Further, the determining a corresponding relationship between the reference plane and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera reference matrix, a preset rotation matrix, and a preset translation vector includes:
determining a correspondence between the reference plane and a two-dimensional virtual pixel coordinate system by the following formula:
wherein,
the coefficient of variation is represented by a coefficient of variation,
representing homogeneous coordinates of two-dimensional camera plane pixels,
a reference matrix within the camera is represented,
a matrix of rotations is represented, which is,
a translation vector is represented that represents the translation vector,
representing the homogeneous coordinates of the camera.
Further, the camera internal parameter matrix comprises camera inherent parameters, and the camera inherent parameters are determined according to the size of the camera chip and the resolution of the camera shooting image.
Step S2, the homogeneous coordinates of the camera are acquired while the camera is capturing the welding image.
And step S3, determining the two-dimensional pixel coordinates of the target welding point in the welding image according to the corresponding relation between the reference plane and the two-dimensional virtual pixel coordinate system and the homogeneous coordinates of the camera.
And step S4, guiding welding according to the two-dimensional pixel coordinates of the target welding point.
Specifically, when a camera shoots a welding image, the three-dimensional space coordinate of the camera and the two-dimensional plane coordinate of a two-dimensional camera plane pixel are obtained, then the three-dimensional space coordinate of the camera and the two-dimensional plane coordinate of the two-dimensional camera plane pixel are respectively converted into homogeneous coordinates, and the homogeneous coordinates of the camera are obtained
The homogeneous coordinate of the planar pixel of the two-dimensional camera is
Therefore, by adding a high latitude variable, the projection transformation is converted into linear transformation, and the subsequent processing is convenient to perform.
It is necessary to prepare a reference plane having a small matrix of 2cm in length and 2cm in width and arranged 3X3
。
Because of the rotational and translational relationship between two planes in space, the reference plane
The corresponding relation between the two-dimensional camera plane, namely the two-dimensional virtual pixel coordinate system is as follows:
。
wherein, the camera internal reference matrix
Wherein
and
representing the length and width of the pixels on each camera,
and
coordinates representing the center point of the camera captured image.
Thus, it is possible to obtain
Wherein
、
And
representing an amount of rotation about three coordinate axes, translation vectors
And represents the amount of translation around 3 coordinate axes.
Transforming three-dimensional world coordinates to a reference plane through a series of transformations
Since M is the reference plane and Z =0, the transformation about the Z axis is negligible, so the new formula is:
order to
Therefore, it is
。
Therefore, this mapping is required, and the matrix needs to be solved
A matrix therein
Is a 3x3 matrix.
Because of the fact that
And
orthogonal, because of the amount of rotation about the x, y axes
And is and
i.e. rotation does not change dimension, thus making it possible to obtain
Then according to
And after simplification, the following can be obtained:
and because some of the camera's inherent parameters are available, the length and width of the pixels on each camera
And
the coordinates of the center point of the image taken by the camera can be obtained by the size of the chip
And
can be obtained by the resolution of the captured image, so the matrix
Is also known, so can determine
And
finally according to
Determining
Finally, determine
Then according to
The transformation relation between the two coordinate systems can be obtained, and therefore subsequent welding guidance can be achieved according to the transformation relation.
The embodiment of the application discloses a welding guiding method based on vision, which comprises the steps of firstly transforming a three-dimensional coordinate of a camera to a reference plane, determining a corresponding relation between the reference plane and a two-dimensional virtual pixel coordinate system, then acquiring a homogeneous coordinate of the camera when the camera shoots a welding image, determining a two-dimensional pixel coordinate of a target welding point in the welding image according to the corresponding relation between the reference plane and the two-dimensional virtual pixel coordinate system and the homogeneous coordinate of the camera, and finally guiding welding according to the two-dimensional pixel coordinate of the target welding point. According to the scheme provided by the application, when the camera moves in the three-dimensional space, a camera coordinate can be obtained, and when the camera moves to a certain position in the three-dimensional space, the two-dimensional pixel coordinate of the target welding point is determined, so that welding guidance can be accurately finished.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
The second embodiment of the present application discloses a visual-based welding guiding device, which is applied to the visual-based welding guiding method disclosed in the first embodiment of the present application, referring to the schematic structural diagram shown in fig. 2, and the visual-based welding guiding device includes:
and the coordinate system changing module 10 is configured to transform the three-dimensional coordinate of the camera to a preset reference plane, and determine a corresponding relationship between the reference plane and a two-dimensional virtual pixel coordinate system, where a Z-axis of the reference plane is 0.
And a camera coordinate acquisition module 20 for acquiring homogeneous coordinates of the camera when the camera takes the welding image.
And the welding point coordinate determining module 30 is configured to determine a two-dimensional pixel coordinate of a target welding point in the welding image according to a correspondence between the reference plane and the two-dimensional virtual pixel coordinate system and the homogeneous coordinate of the camera.
And the welding guiding module 40 is used for guiding welding according to the two-dimensional pixel coordinates of the target welding point.
Further, the reference surface has a matrix with a length of 2cm and a width of 2cm and is arranged at 3x 3.
Further, the coordinate system variation module 10 is configured to:
and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector.
Further, the coordinate system changing module 10 is configured to determine a corresponding relationship between the reference plane and the two-dimensional virtual pixel coordinate system according to the following formula:
wherein,
the coefficient of variation is represented by a coefficient of variation,
representing homogeneous coordinates of two-dimensional camera plane pixels,
a reference matrix within the camera is represented,
a matrix of rotations is represented, which is,
a translation vector is represented that represents the translation vector,
representing the homogeneous coordinates of the camera.
Further, the camera intrinsic parameter matrix comprises camera inherent parameters, and the camera inherent parameters are determined according to the size of a camera chip and the resolution of an image shot by the camera.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (10)
1. A vision-based weld guidance method, comprising:
transforming the three-dimensional coordinates of the camera to a preset reference surface, and determining the corresponding relation between the reference surface and a two-dimensional virtual pixel coordinate system, wherein the Z axis of the reference surface is 0;
acquiring homogeneous coordinates of a camera when the camera shoots a welding image;
determining two-dimensional pixel coordinates of a target welding point in the welding image according to the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system and the homogeneous coordinates of the camera;
and guiding welding according to the two-dimensional pixel coordinates of the target welding point.
2. The vision-based weld guidance method of claim 1, wherein the datum plane has a 2cm long by 2cm wide matrix thereon and is 3x3 aligned.
3. The vision-based weld guidance method of claim 1, wherein the determining a correspondence between the reference plane and a two-dimensional virtual pixel coordinate system comprises:
and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector.
4. The vision-based weld guidance method of claim 3, wherein the determining the correspondence between the datum plane and the two-dimensional virtual pixel coordinate system according to a preset variation coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector comprises:
determining a correspondence between the reference plane and a two-dimensional virtual pixel coordinate system by the following formula:
wherein,
the coefficient of variation is represented by a coefficient of variation,
representing homogeneous coordinates of two-dimensional camera plane pixels,
a reference matrix within the camera is represented,
a matrix of rotations is represented, which is,
a translation vector is represented that represents the translation vector,
representing the homogeneous coordinates of the camera.
5. The vision-based weld guidance method of claim 3, wherein the camera intrinsic parameters matrix includes camera internalization parameters determined from a size of a camera chip and a resolution of a camera captured image.
6. A vision-based weld guiding device applied to the vision-based weld guiding method of any one of claims 1 to 5, the vision-based weld guiding device comprising:
the system comprises a coordinate system changing module, a two-dimensional virtual pixel coordinate system and a three-dimensional coordinate system generating module, wherein the coordinate system changing module is used for converting the three-dimensional coordinate of the camera to a preset reference surface and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system, and the Z axis of the reference surface is 0;
the camera coordinate acquisition module is used for acquiring homogeneous coordinates of the camera when the camera shoots a welding image;
the welding point coordinate determination module is used for determining the two-dimensional pixel coordinate of the target welding point in the welding image according to the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system and the homogeneous coordinate of the camera;
and the welding guide module is used for guiding welding according to the two-dimensional pixel coordinates of the target welding point.
7. The vision-based weld guide of claim 6, wherein the datum plane has a 2cm long by 2cm wide matrix thereon and is 3x3 aligned.
8. The vision-based weld guide of claim 6, wherein the coordinate system change module is to:
and determining the corresponding relation between the reference surface and the two-dimensional virtual pixel coordinate system according to a preset change coefficient, a preset camera internal reference matrix, a preset rotation matrix and a preset translation vector.
9. The vision-based weld guide of claim 8, wherein the coordinate system variation module is configured to determine the correspondence between the reference plane and a two-dimensional virtual pixel coordinate system by:
wherein,
the coefficient of variation is represented by a coefficient of variation,
representing homogeneous coordinates of two-dimensional camera plane pixels,
a reference matrix within the camera is represented,
a matrix of rotations is represented, which is,
a translation vector is represented that represents the translation vector,
representing the homogeneous coordinates of the camera.
10. The vision-based weld guide of claim 8, wherein the camera intrinsic parameters matrix includes camera internalization parameters determined from the size of the camera chip and the resolution of the camera captured image.
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| CN107589782A (en) * | 2016-07-06 | 2018-01-16 | 可穿戴设备有限公司 | Method and apparatus for the ability of posture control interface of wearable device |
| CN110033083A (en) * | 2019-03-29 | 2019-07-19 | 腾讯科技（深圳）有限公司 | Convolutional neural networks model compression method and apparatus, storage medium and electronic device |
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| CN107589782A (en) * | 2016-07-06 | 2018-01-16 | 可穿戴设备有限公司 | Method and apparatus for the ability of posture control interface of wearable device |
| CN110033083A (en) * | 2019-03-29 | 2019-07-19 | 腾讯科技（深圳）有限公司 | Convolutional neural networks model compression method and apparatus, storage medium and electronic device |
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| SOLDIER123333（网友）: "张正友标定算法原理详解", 《IT610网站》 * |
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Application publication date: 20220513 |