CN117392086A - Component weld surface defect identification positioning and polishing system - Google Patents
Component weld surface defect identification positioning and polishing system Download PDFInfo
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- CN117392086A CN117392086A CN202311372866.0A CN202311372866A CN117392086A CN 117392086 A CN117392086 A CN 117392086A CN 202311372866 A CN202311372866 A CN 202311372866A CN 117392086 A CN117392086 A CN 117392086A
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- 230000007547 defect Effects 0.000 title claims abstract description 107
- 238000005498 polishing Methods 0.000 title claims abstract description 93
- 238000003466 welding Methods 0.000 claims abstract description 82
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 22
- 238000013135 deep learning Methods 0.000 claims description 5
- 238000003672 processing method Methods 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims 1
- 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
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- 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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- 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
- G06T2207/30152—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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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Quality & Reliability (AREA)
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- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Multimedia (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to a component welding seam surface defect identification, positioning and polishing system, wherein a first track and a second track are arranged on a welding table; the first track is positioned on the inner side of the second track; the first rail is provided with a cantilever beam carrying the welding robot, and the second rail is provided with a portal frame carrying the polishing robot; the welding robot is provided with a visual camera; after the welding operation of the welding robot, shooting the surface of the welding seam to be detected by adopting a vision sensor carried on the welding robot, and obtaining an image of the surface of the welding seam to be detected; processing an image of the surface of the weld to be detected by using a controller, and acquiring defect position information and defect type information of the surface of the weld; and transmitted to the polishing robot through a connecting wire; and the controller controls the polishing robot to finish polishing operation of the weld surface defects. The invention improves the work efficiency of large-scale member weld surface defect identification, positioning and polishing.
Description
The application is a divisional application of a patent application named as a method for identifying, positioning and polishing surface defects of a welding line of a member, a controller and a system, and the application date of the original application is 2021, 06 and 09, and the application number is 202110642376.2.
Technical Field
The invention belongs to the technical field of image recognition, and particularly relates to a member weld surface defect recognition positioning and polishing system.
Background
The manufacturing process of large equipment such as port machines, ships and engineering machinery relates to a large number of large-scale member processing and manufacturing, and relates to key procedures such as welding, polishing and the like. The trend has been to positively seek robotic work to gradually replace manual work by manufacturing enterprises.
In the welding process of a large-sized component robot, welding defects, particularly weld surface defects, can be prevented from directly influencing the appearance quality of a machined workpiece, and therefore the defects need to be positioned and polished in the machining process. In the related art, after the welding of the robot is finished, the type and the position of the defect on the surface of the welding seam are unpredictable, the type and the position of the defect on the welding seam are required to be determined through manual inspection, and the robot is guided to reach the designated position and polished. However, because the workpiece is large, the manual inspection of the welding seam is not only low in efficiency, but also has the problems of missing inspection, false inspection and the like, and in addition, has the problem of potential safety hazard.
Disclosure of Invention
Therefore, the invention aims to overcome the defects of the prior art and provide a component welding seam surface defect identification, positioning and polishing system, so as to solve the problems of missed detection and false detection in the prior art except low efficiency in manual inspection of welding seams.
In order to achieve the above purpose, the invention adopts the following technical scheme: a component weld surface defect identification locating and grinding system, comprising: the welding device comprises a controller, a welding table, a first rail, a second rail, a carrying welding robot, a cantilever beam, a polishing robot, a portal frame and a visual camera;
the first rail and the second rail are arranged on the welding table; the first track is positioned on the inner side of the second track; the first rail is provided with a cantilever beam carrying the welding robot, and the second rail is provided with a portal frame carrying the polishing robot; the welding robot is provided with a visual camera;
after the welding operation of the welding robot, shooting the surface of the welding seam to be detected by adopting a vision sensor carried on the welding robot, and obtaining an image of the surface of the welding seam to be detected;
processing an image of the surface of the weld to be detected by using a controller, and acquiring defect position information and defect type information of the surface of the weld; and transmitted to the polishing robot through a connecting wire; and the controller controls the polishing robot to finish polishing operation of the weld surface defects.
Optionally, the controller image processing method identifies the type of the defect on the surface of the welding seam through a template matching or deep learning method, and simultaneously locates the spatial position of the defect based on the data information of image calibration and robot hand-eye calibration.
Optionally, the controller controls the polishing robot to finish polishing the weld surface defect, including:
determining a polishing strategy and a polishing tool of a defect to be polished according to the defect type;
determining the position and polishing time of the defect to be polished 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 using a polishing tool according to a polishing strategy by the polishing robot.
Optionally, the method further comprises:
if the number of the weld surfaces to be detected is multiple, shooting and analyzing one by one until all the weld surfaces to be detected are analyzed.
Optionally, the defect type of the weld surface includes: flash, spatter, undercut, and crater.
By adopting the technical scheme, the invention has the following beneficial effects:
the invention provides a component welding seam surface defect identification, positioning and polishing system, which comprises the steps of shooting a welding seam surface to be detected after welding operation of a welding robot, and obtaining an image of the welding seam surface to be detected; analyzing the image of the surface of the welding line to be detected to obtain the defect type of the surface of the welding line to be detected and the position information of the defect of the surface of the welding line 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 using a polishing robot. The invention directly determines the position and the type of the weld surface defect through the vision sensor carried by the welding robot, and transmits the position and the type of the weld surface defect to the polishing robot to perform polishing operation without manually detecting the weld surface defect, and the polishing robot can directly polish the weld defect. The work efficiency of the large-scale member weld joint surface defect identification, positioning and polishing 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 that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system for identifying, locating and polishing surface defects of a weld joint of a component according to the present invention;
FIG. 2 is a schematic diagram of steps of a method for identifying, locating and polishing surface defects of a weld joint of a component according to the present invention;
FIG. 3 is a flow chart of the method for identifying, locating and polishing surface defects of a weld joint of a component 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 will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
One specific component weld surface defect identification locating and sanding system provided in embodiments of the present application is described below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present application provides a component weld surface defect identifying, positioning and polishing system, including: a controller; the welding table 1 is provided with a first track 2 and a second track 3, the first track 2 is positioned on the inner side of the second track 3, the first track 2 is provided with a cantilever beam 4 carrying a welding robot 5, and the second track 3 is provided with a portal frame 6 carrying a polishing robot 7;
the welding robot 5 is provided with a vision sensor (not shown).
It should be understood that the number of the cantilever beams 4 on which the welding robot 5 is mounted may be plural, and the present application is not limited thereto.
As shown in fig. 2, the controller is configured to implement a method for identifying, positioning and polishing a surface defect of a weld joint of a component, including:
s101, after the welding operation of the welding robot 5, shooting the surface of the weld to be detected, and obtaining an image of the surface of the weld to be detected;
s102, analyzing the image of the surface of the weld to be detected to obtain the defect type of the surface of the weld to be detected and the position information of the defect of the surface of the weld 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 a polishing robot 7.
The working principle of the component weld surface defect identification positioning and polishing system is as follows: referring to fig. 3, the components are welded by welding on a welding table 1. Be equipped with first track 2 and second track 3 on the welding bench 1, first track 2 is located the second track 3 inboard, and the member of waiting to weld is placed to first track 2 inboard, and cantilever beam 4 is placed on first track 2, carries on welding robot 5 on the cantilever beam 4, thereby cantilever beam 4 can make things convenient for welding robot 5 to weld the member on first track 2 to slide back and forth. After the welding robot 5 welds the components, a visual sensor on a polishing robot 7 mounted on a portal frame 6 on the second track 3 shoots the surface of the weld to be detected, and an image of the surface of the weld to be detected is obtained; the visual sensor is connected with the controller for transmitting image information, the controller is used for processing the image information, the position information of the defects on the surface of the welding line and the defect type information are acquired and transmitted to the polishing robot 7 through a connecting line, and the controller controls the polishing robot 7 to finish polishing operation of the defects on the surface of the welding line. Wherein the controller is in communication with the sanding robot 7.
In some embodiments, the capturing the image of the weld surface, obtaining an image of the weld surface, includes:
shooting the surface of the 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 to be detected.
Wherein the vision sensor may employ a camera.
According to the method, the surface condition information of the welding seam is shot by the camera carried in the previous welding procedure, the type of the surface defect of the welding seam is identified by the template matching or the deep learning method through the image processing method, and meanwhile, the spatial position of the defect is positioned based on the data information of image calibration and robot hand-eye calibration. The subsequent polishing robot 7 directly determines polishing strategies and tools according to the information and moves to the defect position of the weld joint to be polished for polishing. It can be appreciated that the template matching or the deep learning method can be implemented by using the prior art, and the description of the present application is omitted herein.
In some embodiments, 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 the polishing robot 7 includes:
determining a polishing strategy and a polishing tool of a defect to be polished according to the defect type;
determining the position and polishing time of the defect to be polished 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 using a polishing tool according to a polishing strategy by the polishing robot 7.
Specifically, after the welding operation is completed, the polishing robot 7 selects a proper polishing strategy and a polishing tool according to the type of the weld surface defect and the position information sent by the controller, and on one hand, the portal frame 6 and the polishing robot 7 carried by the portal frame are guided to move to the position of the defect to be polished according to the position of the weld surface defect, and polishing operation is carried out according to the type of the defect until the requirement of polishing the weld surface defect is met.
In some embodiments, the method provided herein further comprises:
if the number of the weld surfaces to be detected is multiple, shooting and analyzing one by one until all the weld surfaces to be detected are analyzed.
Specifically, after polishing the surface of the weld joint with the defect, judging whether the next defect is to be polished, if so, continuously controlling the polishing robot 7 to timely move to the defect position of the specified weld joint surface for polishing until all the weld joint surfaces are polished.
In some embodiments, the weld surface defects mainly comprise types of weld flash, splash, undercut, arc pit and the like, the weld surface defects are identified by image processing through a weld image obtained by a camera mounted on the welding robot 5, and the methods of template matching or deep learning and the like. Meanwhile, the position information of the weld surface defect can be determined through the image calibration, robot hand-eye calibration and other modes, so that the weld surface defect positioning is completed. The weld surface defect type and location information may be transmitted to the grinding robot 7 via a communication line or network.
The embodiment of the application provides a controller, which comprises:
a memory having an executable program stored thereon;
a processor, configured to execute the executable program in the memory, so as to implement the steps of the method according to any one of the foregoing embodiments.
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 defects on a welding seam surface of a member, wherein the method comprises the steps of shooting the welding seam surface to be detected after welding operation of a welding robot, and obtaining an image of the welding seam surface to be detected; analyzing the image of the surface of the welding line to be detected to obtain the defect type of the surface of the welding line to be detected and the position information of the defect of the surface of the welding line 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 using a polishing robot. The invention directly determines the position and the type of the weld surface defect through the vision sensor carried by the welding robot, and transmits the position and the type of the weld surface defect to the polishing robot to perform polishing operation without manually detecting the weld surface defect, and the polishing robot can directly polish the weld defect. The work efficiency of the large-scale member weld joint surface defect identification, positioning and polishing is improved.
It can be understood that the above-provided method embodiments correspond to the above-described apparatus embodiments, and corresponding specific details may be referred to each other and will not be described herein.
It will be appreciated by those skilled in the art that 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, magnetic 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A component weld surface defect identification positioning and grinding system, comprising: the welding device comprises a controller, a welding table, a first rail, a second rail, a carrying welding robot, a cantilever beam, a polishing robot, a portal frame and a visual camera;
the first rail and the second rail are arranged on the welding table; the first track is positioned on the inner side of the second track; the first rail is provided with a cantilever beam carrying the welding robot, and the second rail is provided with a portal frame carrying the polishing robot; the welding robot is provided with a visual camera;
after the welding operation of the welding robot, shooting the surface of the welding seam to be detected by adopting a vision sensor carried on the welding robot, and obtaining an image of the surface of the welding seam to be detected;
processing an image of the surface of the weld to be detected by using a controller, and acquiring defect position information and defect type information of the surface of the weld; and transmitted to the polishing robot through a connecting wire; and the controller controls the polishing robot to finish polishing operation of the weld surface defects.
2. The system for identifying, positioning and polishing surface defects of welding seams of components according to claim 1, wherein the controller is used for identifying the type of the surface defects of the welding seams through a template matching or deep learning method by an image processing method, and positioning the spatial positions of the defects based on data information of image calibration and robot hand-eye calibration.
3. The component weld surface defect identification, localization and grinding system of claim 1, wherein the controller controls the grinding robot to finish the weld surface defect grinding operation, comprising:
determining a polishing strategy and a polishing tool of a defect to be polished according to the defect type;
determining the position and polishing time of the defect to be polished 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 using a polishing tool according to a polishing strategy by the polishing robot.
4. The component weld surface defect identification locating and grinding system of claim 1, further comprising:
if the number of the weld surfaces to be detected is multiple, shooting and analyzing one by one until all the weld surfaces to be detected are analyzed.
5. The component weld surface defect identification locating and grinding system of claim 1, wherein the type of defect on the weld surface comprises: flash, spatter, undercut, and crater.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311372866.0A CN117392086A (en) | 2021-06-09 | 2021-06-09 | Component weld surface defect identification positioning and polishing system |
Applications Claiming Priority (2)
| 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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| Application Number | Title | Priority Date | Filing Date |
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| CN202110642376.2A Division 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 Pending CN117392086A (en) | 2021-06-09 | 2021-06-09 | Component weld surface defect identification positioning and polishing system |
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| 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 |
| CN117808814B (en) * | 2024-03-01 | 2024-05-28 | 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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| DE102017108191A1 (en) * | 2017-04-18 | 2018-10-18 | Rud. Starcke Gmbh & Co. Kg | Method for partially grinding a surface and grinding device |
| CN110170922B (en) * | 2019-06-03 | 2020-12-04 | 北京石油化工学院 | Automatic grinding method, device and equipment |
| CN111982916A (en) * | 2020-08-20 | 2020-11-24 | 南京中车浦镇城轨车辆有限责任公司 | Welding seam surface defect detection method and system based on machine vision |
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