CN118123307A - Self-adaptive weld joint adjusting method and system based on vision - Google Patents
Self-adaptive weld joint adjusting method and system based on vision Download PDFInfo
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Abstract
The application provides a vision-based self-adaptive weld joint adjustment method and a vision-based self-adaptive weld joint adjustment system, which belong to the technical field of automatic welding, wherein the method comprises the following steps: the electronic equipment acquires an image shot for a welded object; the electronic equipment determines a region to be welded of a welded object from an image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1; and the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded. By adopting the method provided by the application, each sub-area to be welded can be welded by taking the welding seam width suitable for the shape of the area as a standard, so that the welding seam width of each sub-area to be welded can meet the requirements of the sub-area to be welded, and the reliability and the stability of automatic welding are ensured.
Description
Technical Field
The application relates to the technical field of automatic welding, in particular to a vision-based self-adaptive welding seam adjusting method and system.
Background
With the continuous development of technology, human productivity is greatly improved. In the field of welding, traditional manual welding has gradually been replaced by automated welding. Automated welding refers to the automation of the welding process by means of machine equipment, which has higher production efficiency, lower cost and higher quality stability than conventional manual welding.
In the past, manual welding is a main welding mode, manual operation is needed, labor intensity is high, efficiency is low, and manual operation errors easily occur to influence welding quality. With the continuous development of industrial automation technology, automatic welding is becoming the mainstream. Automatic welding can be realized through automatic welding robots, automatic welding equipment and the like, has high intellectualization and programmability, and can carry out accurate welding operation according to production requirements. Automated welding is widely used in various fields, especially in high-end manufacturing industries such as automotive, aerospace, and the like. Through automatic welding, the enterprise can improve production efficiency by a wide margin, reduces manufacturing cost, can also guarantee the quality stability of product simultaneously. In addition, automatic welding can also reduce human operation errors, improve work safety, reduce workman's intensity of labour.
However, how to ensure the reliability and stability of automated welding is a hot spot problem of current research due to the variety of forms of the locations or areas to be welded.
Disclosure of Invention
The embodiment of the application provides a vision-based self-adaptive welding seam adjusting method and system, which are used for guaranteeing the reliability and stability of automatic welding.
In order to achieve the above purpose, the application adopts the following technical scheme:
In a first aspect, an embodiment of the present application provides a vision-based adaptive weld adjustment method, applied to an electronic device, where the method includes: the electronic equipment acquires an image shot for a welded object; the electronic equipment determines a region to be welded of a welded object from an image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1; and the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded.
Optionally, the electronic device determines a region to be welded of the object to be welded from the image, and divides the region to be welded into M sub-regions to be welded, including: the electronic equipment determines a region to be welded of the welded object from the image by analyzing the pixel value change of the pixel points in the image; the electronic equipment divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded.
Optionally, the electronic device divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded, including: the electronic equipment determines the number M of subareas into which the to-be-welded area needs to be divided according to the length of the to-be-welded area, and a positive correlation corresponding relation is preset between the length of the to-be-welded area and the number of the subareas into which the to-be-welded area needs to be divided; the electronic equipment determines the respective positions of M sub-areas into which the to-be-welded area needs to be divided according to the number of radians contained in the to-be-welded area and the width of the to-be-welded area, and divides the to-be-welded area into M to-be-welded sub-areas according to the respective positions of the M sub-areas.
Optionally, the electronic device determines respective positions of M sub-regions into which the to-be-welded region needs to be divided according to the number of radians included in the to-be-welded region and the width of the to-be-welded region, and divides the to-be-welded region into M to-be-welded sub-regions according to the respective positions of the M sub-regions, including: the method comprises the steps that electronic equipment determines whether a region to be welded comprises a double-radian region with an S-shaped region shape; if the area to be welded comprises an area with a double-radian shape, the electronic equipment determines the size relation between the number N of the double-radian area and the number M of the double-radian area; if the number N of the double-radian areas is equal to M, the electronic equipment divides the to-be-welded area into M double-radian areas, wherein each to-be-welded sub-area in the M to-be-welded sub-areas is a double-radian area; if the number N of the double-radian areas is greater than M, the electronic equipment sequentially combines the adjacent double-radians into a four-radian area according to the sequence from far to near of the distance between the adjacent double-radians until the sum of the numbers of the double-radian areas and the four-radian areas is M, so that M sub-areas to be welded are obtained by segmentation, wherein the M sub-areas to be welded are all the four-radian areas, or the M sub-areas to be welded comprise part of the four-radian areas and part of the double-radian areas; if the number N of the double-arc areas is smaller than M, the electronic equipment divides the to-be-welded area into N double-arc areas, then divides the areas except the N double-arc areas in the to-be-welded area into M-N areas, and divides the areas into M to-be-welded subareas; if the area to be welded does not contain the area with the shape of double radians, the electronic equipment divides the area to be welded into M subareas to be welded in a mode that the dividing lengths from two ends to the center of the area to be welded decrease in sequence.
Optionally, the electronic device determines the area to be welded of the object to be welded from the image by analyzing the pixel value change of the pixel point in the image, including: the electronic equipment carries out graying/binarization processing on the image to obtain a processed image; the electronic equipment determines a region to be welded of the object to be welded from the processed image by analyzing whether the pixel value difference between adjacent pixel points in the processed image is larger than a difference threshold value, wherein in the processed image, the pixel value difference between the pixel points at the edge of the region to be welded and the pixel points of other regions of the processed image except the region to be welded is larger than the difference threshold value.
Optionally, the electronic device dynamically determines the weld widths of the M sub-regions to be welded according to the respective forms of the M sub-regions to be welded, including: i is an integer traversing 1 to M, and aiming at the ith sub-area to be welded in M sub-areas to be welded, the electronic equipment determines the average width of the ith sub-area to be welded according to the widths of different positions in the ith sub-area to be welded; the electronic equipment determines the weld joint width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, wherein the weld joint width of the ith sub-area to be welded is larger than or equal to the average width of the ith sub-area to be welded.
Optionally, the electronic device determines the weld width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, including: the electronic equipment determines the weld joint width Y of the ith sub-area to be welded according to the average width X of the ith sub-area to be welded, the relation alpha between the weld joint width and the average width of the area and an error factor beta, wherein the value of the relation alpha between the weld joint width and the average width of the area is more than 1, the value of the error factor beta is a positive number, the weld joint width of the ith sub-area to be welded is more than the maximum width of the ith sub-area to be welded, and the weld joint width of the ith sub-area to be welded meets the following relation: y=α·x+β.
Optionally, if the number of radians included in the ith sub-area to be welded is greater and/or the radian of the ith sub-area to be welded is greater, the value of the error factor β corresponding to the ith sub-area to be welded is greater.
Optionally, the method further comprises: the electronic equipment determines the welding sequence of the M sub-areas to be welded according to the sequence from large to small or from small to large of the welding line widths of the M sub-areas to be welded.
In a second aspect, a vision-based adaptive weld adjustment system is provided, the system comprising an electronic device configured to: the electronic equipment acquires an image shot for a welded object; the electronic equipment determines a region to be welded of a welded object from an image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1; and the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded.
Optionally, the electronic device determines a region to be welded of the object to be welded from the image, and divides the region to be welded into M sub-regions to be welded, including: the electronic equipment determines a region to be welded of the welded object from the image by analyzing the pixel value change of the pixel points in the image; the electronic equipment divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded.
Optionally, the electronic device divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded, including: the electronic equipment determines the number M of subareas into which the to-be-welded area needs to be divided according to the length of the to-be-welded area, and a positive correlation corresponding relation is preset between the length of the to-be-welded area and the number of the subareas into which the to-be-welded area needs to be divided; the electronic equipment determines the respective positions of M sub-areas into which the to-be-welded area needs to be divided according to the number of radians contained in the to-be-welded area and the width of the to-be-welded area, and divides the to-be-welded area into M to-be-welded sub-areas according to the respective positions of the M sub-areas.
Optionally, the electronic device determines respective positions of M sub-regions into which the to-be-welded region needs to be divided according to the number of radians included in the to-be-welded region and the width of the to-be-welded region, and divides the to-be-welded region into M to-be-welded sub-regions according to the respective positions of the M sub-regions, including: the method comprises the steps that electronic equipment determines whether a region to be welded comprises a double-radian region with an S-shaped region shape; if the area to be welded comprises an area with a double-radian shape, the electronic equipment determines the size relation between the number N of the double-radian area and the number M of the double-radian area; if the number N of the double-radian areas is equal to M, the electronic equipment divides the to-be-welded area into M double-radian areas, wherein each to-be-welded sub-area in the M to-be-welded sub-areas is a double-radian area; if the number N of the double-radian areas is greater than M, the electronic equipment sequentially combines the adjacent double-radians into a four-radian area according to the sequence from far to near of the distance between the adjacent double-radians until the sum of the numbers of the double-radian areas and the four-radian areas is M, so that M sub-areas to be welded are obtained by segmentation, wherein the M sub-areas to be welded are all the four-radian areas, or the M sub-areas to be welded comprise part of the four-radian areas and part of the double-radian areas; if the number N of the double-arc areas is smaller than M, the electronic equipment divides the to-be-welded area into N double-arc areas, then divides the areas except the N double-arc areas in the to-be-welded area into M-N areas, and divides the areas into M to-be-welded subareas; if the area to be welded does not contain the area with the shape of double radians, the electronic equipment divides the area to be welded into M subareas to be welded in a mode that the dividing lengths from two ends to the center of the area to be welded decrease in sequence.
Optionally, the electronic device determines the area to be welded of the object to be welded from the image by analyzing the pixel value change of the pixel point in the image, including: the electronic equipment carries out graying/binarization processing on the image to obtain a processed image; the electronic equipment determines a region to be welded of the object to be welded from the processed image by analyzing whether the pixel value difference between adjacent pixel points in the processed image is larger than a difference threshold value, wherein in the processed image, the pixel value difference between the pixel points at the edge of the region to be welded and the pixel points of other regions of the processed image except the region to be welded is larger than the difference threshold value.
Optionally, the electronic device dynamically determines the weld widths of the M sub-regions to be welded according to the respective forms of the M sub-regions to be welded, including: i is an integer traversing 1 to M, and aiming at the ith sub-area to be welded in M sub-areas to be welded, the electronic equipment determines the average width of the ith sub-area to be welded according to the widths of different positions in the ith sub-area to be welded; the electronic equipment determines the weld joint width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, wherein the weld joint width of the ith sub-area to be welded is larger than or equal to the average width of the ith sub-area to be welded.
Optionally, the electronic device determines the weld width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, including: the electronic equipment determines the weld joint width Y of the ith sub-area to be welded according to the average width X of the ith sub-area to be welded, the relation alpha between the weld joint width and the average width of the area and an error factor beta, wherein the value of the relation alpha between the weld joint width and the average width of the area is more than 1, the value of the error factor beta is a positive number, the weld joint width of the ith sub-area to be welded is more than the maximum width of the ith sub-area to be welded, and the weld joint width of the ith sub-area to be welded meets the following relation: y=α·x+β.
Optionally, if the number of radians included in the ith sub-area to be welded is greater and/or the radian of the ith sub-area to be welded is greater, the value of the error factor β corresponding to the ith sub-area to be welded is greater.
Optionally, the system is further configured to: the electronic equipment determines the welding sequence of the M sub-areas to be welded according to the sequence from large to small or from small to large of the welding line widths of the M sub-areas to be welded.
In a third aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon program code which, when executed by the computer, performs the method according to the first aspect.
In summary, based on the above method and system, it can be seen that:
The electronic apparatus extracts a region to be welded of the object to be welded by acquiring an image taken for the object to be welded. In this way, the electronic device can divide the to-be-welded area into M to-be-welded subareas, and dynamically determine the respective weld widths of the M to-be-welded subareas according to the respective forms of the M to-be-welded subareas, so that each to-be-welded subarea can be welded by taking the weld width suitable for the form of the area as a standard, and the weld width of each to-be-welded subarea after being welded can meet the requirements of the to-be-welded subarea, so as to ensure the reliability and stability of automatic welding.
Drawings
FIG. 1 is a flow chart of a vision-based adaptive weld adjustment method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical scheme of the application will be described below with reference to the accompanying drawings.
In the embodiment of the application, the indication can comprise direct indication and indirect indication, and can also comprise explicit indication and implicit indication. The information indicated by a certain information (such as the first indication information, the second indication information, or the third indication information) is referred to as information to be indicated, and in a specific implementation process, there are various ways of indicating the information to be indicated, for example, but not limited to, the information to be indicated may be directly indicated, such as the information to be indicated itself or an index of the information to be indicated. The information to be indicated can also be indicated indirectly by indicating other information, wherein the other information and the information to be indicated have an association relation. It is also possible to indicate only a part of the information to be indicated, while other parts of the information to be indicated are known or agreed in advance. For example, the indication of the specific information may also be achieved by means of a pre-agreed (e.g., protocol-specified) arrangement sequence of the respective information, thereby reducing the indication overhead to some extent. And meanwhile, the universal part of each information can be identified and indicated uniformly, so that the indication cost caused by independently indicating the same information is reduced.
The specific indication means may be any of various existing indication means, such as, but not limited to, the above indication means, various combinations thereof, and the like. Specific details of various indications may be referred to the prior art and are not described herein. As can be seen from the above, for example, when multiple pieces of information of the same type need to be indicated, different manners of indication of different pieces of information may occur. In a specific implementation process, a required indication mode can be selected according to specific needs, and the selected indication mode is not limited in the embodiment of the present application, so that the indication mode according to the embodiment of the present application is understood to cover various methods that can enable a party to be indicated to learn information to be indicated.
It should be understood that the information to be indicated may be sent together as a whole or may be sent separately in a plurality of sub-information, and the sending periods and/or sending timings of these sub-information may be the same or different. Specific transmission method the embodiment of the present application is not limited. The transmission period and/or the transmission timing of the sub-information may be predefined, for example, predefined according to a protocol, or may be configured by the transmitting end device by transmitting configuration information to the receiving end device.
The "pre-defining" or "pre-configuring" may be implemented by pre-storing corresponding codes, tables, or other manners that may be used to indicate relevant information in the device, and the embodiments of the present application are not limited to the specific implementation manner. Where "save" may refer to saving in one or more memories. The one or more memories may be provided separately or may be integrated in an encoder or decoder, processor, or communication device. The one or more memories may also be provided separately as part of a decoder, processor, or communication device. The type of memory may be any form of storage medium, and embodiments of the application are not limited in this regard.
The "protocol" referred to in the embodiments of the present application may refer to a protocol family in the communication field, a standard protocol similar to a frame structure of the protocol family, or a related protocol applied to a future communication system, which is not specifically limited in the embodiments of the present application.
In the embodiment of the present application, the descriptions of "when … …", "in … …", "if" and "if" all refer to that the device will perform corresponding processing under some objective condition, and are not limited in time, and do not require that the device must have a judging action when implementing, and do not mean that there are other limitations.
In the description of the embodiments of the present application, unless otherwise indicated, "/" means that the objects associated in tandem are in a "or" relationship, e.g., A/B may represent A or B; the "and/or" in the embodiment of the present application is merely an association relationship describing the association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a alone, a and B together, and B alone, wherein A, B may be singular or plural. Also, in the description of the embodiments of the present application, unless otherwise indicated, "plurality" means two or more than two. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ. Meanwhile, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion that may be readily understood.
The network architecture and the service scenario described in the embodiments of the present application are for more clearly describing the technical solution of the embodiments of the present application, and do not constitute a limitation on the technical solution provided by the embodiments of the present application, and those skilled in the art can know that, with the evolution of the network architecture and the appearance of the new service scenario, the technical solution provided by the embodiments of the present application is applicable to similar technical problems.
The technical scheme of the application will be described below with reference to the accompanying drawings.
The method provided by the embodiment of the application can be executed by electronic equipment, the electronic equipment can be a terminal, the terminal can be a terminal with a communication function, or can be a chip or a chip system arranged on the terminal. The terminal device may also be referred to as a User Equipment (UE), an access terminal, a subscriber unit, a subscriber station, a mobile station, a remote terminal, a mobile device, a user terminal, a wireless communication device, a user agent, or a user device. The terminal device in the embodiment of the present application may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an augmented reality (augmented reality, AR) terminal device, a wireless terminal in industrial control (industrial control), a wireless terminal in unmanned (SELF DRIVING), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (SMART GRID), a wireless terminal in transportation security (transportation safety), a wireless terminal in smart city (SMART CITY), a wireless terminal in smart home (smart home), a vehicle-mounted terminal, an RSU with a terminal function, or the like.
Referring to fig. 1, an embodiment of the application provides a vision-based adaptive weld adjustment method. The method may be performed by an electronic device. The method comprises the following steps:
S101, the electronic apparatus acquires an image captured for the object to be welded.
The welded object can be formed by splicing a plurality of parts, and the spliced part is the area to be welded of the welded object. There are various ways for the electronic device to acquire the image, for example, the image may be directly transmitted to the electronic device by the device that captures the image, or manually uploaded to the electronic device by the user, and the specific way is not limited.
S102, the electronic equipment determines a region to be welded of the welded object from the image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1.
The electronic device can determine the region to be welded of the welded object from the image by analyzing the pixel value change of the pixel points in the image.
For example, the electronic device may perform a graying/binarizing process on the image to obtain a processed image. And the electronic equipment determines the area to be welded of the welded object from the processed image by analyzing whether the pixel value difference between the adjacent pixel points in the processed image is larger than a difference threshold value. In the processed image, the difference between the pixel values of the edge of the area to be welded and the pixel values of the pixel points of other areas of the processed image except the area to be welded is greater than a difference threshold value, and in this case, the electronic device can determine the pixel points of the edge of the area to be welded, so that the area surrounded by the pixel points is determined to be the area to be welded.
The electronic equipment divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded.
For example, the electronic device may determine, according to the length of the region to be welded, that the number of sub-regions into which the region to be welded needs to be divided is M, where a positive correlation correspondence is preset between the length of the region to be welded and the number of sub-regions into which the region to be welded needs to be divided. For example, length L1 corresponds to m=3, length L2 corresponds to m=4, length L3 corresponds to m=5, and so on.
On the basis, the electronic equipment can determine the respective positions of M sub-areas into which the to-be-welded area needs to be divided according to the number of radians contained in the to-be-welded area and the width of the to-be-welded area, and divide the to-be-welded area into M to-be-welded sub-areas according to the respective positions of the M sub-areas. For example, the electronic device determines whether the area to be welded contains a double-arc area with an area shape of an S.
If the area to be welded comprises an area with a double-radian shape, the electronic equipment determines the size relation between the number N of the double-radian area and the number M of the double-radian area; if the number N of the double-arc areas is equal to M, the electronic equipment divides the to-be-welded area into M double-arc areas, wherein each to-be-welded sub-area in the M to-be-welded sub-areas is a double-arc area. It should be appreciated that since the S-shaped arc in the double arc region is welded as a whole, the continuity and consistency of the arc can simplify the motion control of the welding arm, and on the other hand, the arc can be welded as a whole, resulting in a better welding effect. If the number N of the double-radian areas is greater than M, the electronic equipment sequentially merges the adjacent double-radians into a four-radian area according to the sequence from far to near of the distance between the adjacent double-radians until the sum of the numbers of the double-radian areas and the four-radian areas is M, so that M sub-areas to be welded are obtained through segmentation. The M sub-regions to be welded are all four-arc regions, namely, 2n=m, or the M sub-regions to be welded include a partial four-arc region and a partial double-arc region, and 2n is smaller than M. At this time, the number of the divided regions can be effectively reduced by combining the radian regions, so that the welding difficulty is reduced as a whole. In addition, the four-radian region is combined in a mode that the distance between the adjacent two-radian regions is from far to near, and the two-radian regions in one four-radian region are far enough, so that the welding arm has a long enough distance to adjust and connect the two-radian regions, and the welding effect is improved. If the number N of the double-arc regions is smaller than M, the electronic device may divide the region to be welded into N double-arc regions, and divide the region of the region to be welded other than the N double-arc regions into M-N regions, so as to obtain M sub-regions to be welded.
If the area to be welded does not include an area with a double-arc shape (such as an M-arc area or a straight area), the electronic device divides the area to be welded into M sub-areas to be welded in a manner that the dividing lengths from two ends to the center of the area to be welded decrease in sequence (for example, the area ratio of the front end to the rear end is 1/3, and the remaining 1/3 is divided into two areas). The advantage is that the welding arm is consistent with the operation mode of the welding arm, namely, the welding arm gradually moves towards the center from two ends, so that the welding precision can be improved. Additionally, for the M-shaped radian region, each region is obtained by dividing the region by taking a single radian as granularity.
S103, the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded.
I is an integer traversing 1 to M, and for the ith sub-area to be welded in the M sub-areas to be welded, the electronic device can determine the average width of the ith sub-area to be welded according to the widths of different positions in the ith sub-area to be welded (according to the length of the ith sub-area to be welded, different positions are randomly determined, and the number and the length of the positions can be positively correlated). The electronic equipment determines the weld joint width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, wherein the weld joint width of the ith sub-area to be welded is larger than or equal to the average width of the ith sub-area to be welded.
Specifically, the electronic device may determine, according to the average width X of the ith sub-area to be welded, the relationship α between the weld width and the average width of the area, and the error factor β, the weld width Y of the ith sub-area to be welded, where the value of the relationship α between the weld width and the average width of the area is greater than 1, the value of the error factor β is a positive number, the weld width of the ith sub-area to be welded is greater than the maximum width of the ith sub-area to be welded, and the weld width of the ith sub-area to be welded satisfies the following relationship: y=α·x+β.
Optionally, if the number of radians included in the ith sub-area to be welded is greater and/or the radian of the ith sub-area to be welded is greater, the value of the error factor β corresponding to the ith sub-area to be welded is greater.
Optionally, the electronic device may further determine a welding sequence of the M sub-areas to be welded according to a sequence of the welding seam widths of the M sub-areas to be welded from large to small or from small to large, so as to achieve gradual change of the welding seam widths, so that welding accuracy and effect can be improved.
In summary, the electronic device extracts a region to be welded of the object to be welded by acquiring an image taken for the object to be welded. In this way, the electronic device can divide the to-be-welded area into M to-be-welded subareas, and dynamically determine the respective weld widths of the M to-be-welded subareas according to the respective forms of the M to-be-welded subareas, so that each to-be-welded subarea can be welded by taking the weld width suitable for the form of the area as a standard, and the weld width of each to-be-welded subarea after being welded can meet the requirements of the to-be-welded subarea, so as to ensure the reliability and stability of automatic welding.
Also provided in this embodiment is a vision-based adaptive weld adjustment system comprising an electronic device configured to: the electronic equipment acquires an image shot for a welded object; the electronic equipment determines a region to be welded of a welded object from an image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1; and the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded.
Optionally, the electronic device determines a region to be welded of the object to be welded from the image, and divides the region to be welded into M sub-regions to be welded, including: the electronic equipment determines a region to be welded of the welded object from the image by analyzing the pixel value change of the pixel points in the image; the electronic equipment divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded.
Optionally, the electronic device divides the area to be welded into M sub-areas to be welded according to the length and the shape of the area to be welded, including: the electronic equipment determines the number M of subareas into which the to-be-welded area needs to be divided according to the length of the to-be-welded area, and a positive correlation corresponding relation is preset between the length of the to-be-welded area and the number of the subareas into which the to-be-welded area needs to be divided; the electronic equipment determines the respective positions of M sub-areas into which the to-be-welded area needs to be divided according to the number of radians contained in the to-be-welded area and the width of the to-be-welded area, and divides the to-be-welded area into M to-be-welded sub-areas according to the respective positions of the M sub-areas.
Optionally, the electronic device determines respective positions of M sub-regions into which the to-be-welded region needs to be divided according to the number of radians included in the to-be-welded region and the width of the to-be-welded region, and divides the to-be-welded region into M to-be-welded sub-regions according to the respective positions of the M sub-regions, including: the method comprises the steps that electronic equipment determines whether a region to be welded comprises a double-radian region with an S-shaped region shape; if the area to be welded comprises an area with a double-radian shape, the electronic equipment determines the size relation between the number N of the double-radian area and the number M of the double-radian area; if the number N of the double-radian areas is equal to M, the electronic equipment divides the to-be-welded area into M double-radian areas, wherein each to-be-welded sub-area in the M to-be-welded sub-areas is a double-radian area; if the number N of the double-radian areas is greater than M, the electronic equipment sequentially combines the adjacent double-radians into a four-radian area according to the sequence from far to near of the distance between the adjacent double-radians until the sum of the numbers of the double-radian areas and the four-radian areas is M, so that M sub-areas to be welded are obtained by segmentation, wherein the M sub-areas to be welded are all the four-radian areas, or the M sub-areas to be welded comprise part of the four-radian areas and part of the double-radian areas; if the number N of the double-arc areas is smaller than M, the electronic equipment divides the to-be-welded area into N double-arc areas, then divides the areas except the N double-arc areas in the to-be-welded area into M-N areas, and divides the areas into M to-be-welded subareas; if the area to be welded does not contain the area with the shape of double radians, the electronic equipment divides the area to be welded into M subareas to be welded in a mode that the dividing lengths from two ends to the center of the area to be welded decrease in sequence.
Optionally, the electronic device determines the area to be welded of the object to be welded from the image by analyzing the pixel value change of the pixel point in the image, including: the electronic equipment carries out graying/binarization processing on the image to obtain a processed image; the electronic equipment determines a region to be welded of the object to be welded from the processed image by analyzing whether the pixel value difference between adjacent pixel points in the processed image is larger than a difference threshold value, wherein in the processed image, the pixel value difference between the pixel points at the edge of the region to be welded and the pixel points of other regions of the processed image except the region to be welded is larger than the difference threshold value.
Optionally, the electronic device dynamically determines the weld widths of the M sub-regions to be welded according to the respective forms of the M sub-regions to be welded, including: i is an integer traversing 1 to M, and aiming at the ith sub-area to be welded in M sub-areas to be welded, the electronic equipment determines the average width of the ith sub-area to be welded according to the widths of different positions in the ith sub-area to be welded; the electronic equipment determines the weld joint width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, wherein the weld joint width of the ith sub-area to be welded is larger than or equal to the average width of the ith sub-area to be welded.
Optionally, the electronic device determines the weld width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, including: the electronic equipment determines the weld joint width Y of the ith sub-area to be welded according to the average width X of the ith sub-area to be welded, the relation alpha between the weld joint width and the average width of the area and an error factor beta, wherein the value of the relation alpha between the weld joint width and the average width of the area is more than 1, the value of the error factor beta is a positive number, the weld joint width of the ith sub-area to be welded is more than the maximum width of the ith sub-area to be welded, and the weld joint width of the ith sub-area to be welded meets the following relation: y=α·x+β.
Optionally, if the number of radians included in the ith sub-area to be welded is greater and/or the radian of the ith sub-area to be welded is greater, the value of the error factor β corresponding to the ith sub-area to be welded is greater.
Optionally, the system is further configured to: the electronic equipment determines the welding sequence of the M sub-areas to be welded according to the sequence from large to small or from small to large of the welding line widths of the M sub-areas to be welded.
The following describes the various components of an electronic device 400 in detail with reference to fig. 2:
The processor 401 is a control center of the electronic device 400, and may be one processor or a generic name of a plurality of processing elements. For example, processor 401 is one or more central processing units (central processing unit, CPU) and may be an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present application, such as: one or more microprocessors (DIGITAL SIGNAL processors, DSPs), or one or more field programmable gate arrays (field programmable GATE ARRAY, FPGAs).
Alternatively, the processor 401 may perform various functions of the electronic device 400, such as the functions in the method shown in fig. 1 described above, by running or executing a software program stored in the memory 402 and invoking data stored in the memory 402.
In a particular implementation, processor 401 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 2, as an embodiment.
In a particular implementation, as one embodiment, an electronic device 400 may also include multiple processors, such as processor 401 and processor 404 shown in FIG. 2. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The memory 402 is configured to store a software program for executing the solution of the present application, and the processor 401 controls the execution of the software program, and the specific implementation may refer to the above method embodiment, which is not described herein again.
Alternatively, memory 402 may be read-only memory (ROM) or other type of static storage device that may store static information and instructions, random access memory (random access memory, RAM) or
Other types of dynamic storage devices, which can store information and instructions, can also be, but are not limited to, an electrically erasable programmable read-only memory (EEPROM), a compact disk read-only memory (compact disc read-only memory) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer. The memory 402 may be integrated with the processor 401 or may exist separately and as an electronic device 400
Is coupled to the processor 401 (not shown in fig. 2), and embodiments of the present application are not limited in this regard.
A transceiver 403 for communication with other devices. For example, the multi-beam based positioning device is a terminal and the transceiver 403 may be used to communicate with a network device or with another terminal.
Alternatively, the transceiver 403 may include a receiver and a transmitter (not separately shown in fig. 2). The receiver is used for realizing the receiving function, and the transmitter is used for realizing the transmitting function.
Alternatively, transceiver 403 may be integrated with processor 401 or may exist separately and be coupled to processor 401 by an interface circuit (not shown in fig. 2) of electronic device 400, as embodiments of the application are not limited in this regard.
It should be noted that the structure of one electronic device 400 shown in fig. 2 is not limited to the apparatus, and an actual one electronic device 400 may include more or fewer components than shown, or may combine some components, or may have different arrangements of components.
In addition, the technical effects of the electronic device 400 may refer to the technical effects of the method of the above-mentioned method embodiment, and will not be described herein.
It should be appreciated that the processor in embodiments of the application may be a central processing unit (central processing unit, CPU), which may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application Specific Integrated Circuits (ASICs), off-the-shelf programmable gate arrays (field programmable GATE ARRAY, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should also be appreciated that the memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an erasable programmable ROM (erasable PROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of random access memory (random access memory, RAM) are available, such as static random access memory (STATIC RAM, SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (double DATA RATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM).
The above embodiments may be implemented in whole or in part by software, hardware (e.g., circuitry), firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., infrared, wireless, microwave, etc.) means. Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc. that contain one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In addition, the character "/" herein generally indicates that the associated object is an "or" relationship, but may also indicate an "and/or" relationship, and may be understood by referring to the context.
In the present application, "at least one" means one or more, and "a plurality" means two or more. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely meant to be exemplary, e.g., the division of units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some feature fields may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. A vision-based adaptive weld adjustment method, for use with an electronic device, the method comprising:
the electronic equipment acquires an image shot for a welded object;
the electronic equipment determines a region to be welded of the welded object from the image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1;
And the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded.
2. The method of claim 1, wherein the electronic device determines a region to be welded of the object to be welded from the image and divides the region to be welded into M sub-regions to be welded, comprising:
The electronic equipment determines the region to be welded of the welded object from the image by analyzing the pixel value change of the pixel points in the image;
The electronic equipment divides the area to be welded into the M subareas to be welded according to the length and the shape of the area to be welded.
3. The method of claim 2, wherein the dividing the region to be welded into the M sub-regions to be welded by the electronic device according to the length and the shape of the region to be welded includes:
The electronic equipment determines the number of subareas into which the to-be-welded area needs to be divided as M according to the length of the to-be-welded area, and a positive correlation corresponding relation is preset between the length of the to-be-welded area and the number of subareas into which the to-be-welded area needs to be divided;
the electronic equipment determines respective positions of M sub-areas into which the to-be-welded area needs to be divided according to the radian number contained in the to-be-welded area and the width of the to-be-welded area, and divides the to-be-welded area into the M to-be-welded sub-areas according to the respective positions of the M sub-areas.
4. The method according to claim 3, wherein the electronic device determines respective positions of M sub-regions into which the region to be welded needs to be divided according to the number of radians included in the region to be welded and the width of the region to be welded, and divides the region to be welded into the M sub-regions to be welded according to the respective positions of the M sub-regions, including:
the electronic equipment determines whether the to-be-welded area comprises a double-radian area with an S-shaped area shape;
If the area to be welded comprises an area with a double-radian shape, the electronic equipment determines the size relation between the number N of the double-radian area and the number M of the double-radian area; if the number N of the double-arc areas is equal to M, the electronic equipment divides the to-be-welded area into M double-arc areas, wherein each to-be-welded sub-area in the M to-be-welded sub-areas is a double-arc area; if the number N of the double-radian areas is greater than M, the electronic equipment sequentially merges the adjacent double-radians into a four-radian area according to the sequence from far to near of the distance between the adjacent double-radians until the sum of the numbers of the double-radian areas and the four-radian areas is M, so that the M sub-areas to be welded are obtained by segmentation, wherein the M sub-areas to be welded are all four-radian areas, or the M sub-areas to be welded comprise part of four-radian areas and part of double-radian areas; if the number N of the double-arc areas is smaller than M, the electronic equipment divides the to-be-welded area into N double-arc areas, then divides the areas except the N double-arc areas in the to-be-welded area into M-N areas, and obtains M to-be-welded subareas by co-division;
if the area to be welded does not contain the area with the shape of double radians, the electronic equipment divides the area to be welded into the M subareas to be welded in a mode that the dividing lengths from the two ends to the center of the area to be welded decrease in sequence.
5. The method of claim 4, wherein the electronic device determining the region to be welded of the object to be welded from the image by analyzing pixel value variations of pixels in the image comprises:
The electronic equipment carries out graying/binarization processing on the image to obtain a processed image;
And the electronic equipment determines the region to be welded of the object to be welded from the processed image by analyzing whether the pixel value difference between adjacent pixel points in the processed image is larger than a difference threshold value, wherein in the processed image, the pixel value difference between the pixel points at the edge of the region to be welded and the pixel points of other regions of the processed image except the region to be welded is larger than the difference threshold value.
6. The method of claim 4, wherein the electronic device dynamically determining the weld widths of the M sub-regions to be welded according to the morphology of the M sub-regions to be welded, comprises:
i is an integer traversing 1 to M, and aiming at an ith sub-area to be welded in the M sub-areas to be welded, the electronic equipment determines the average width of the ith sub-area to be welded according to the widths of different positions in the ith sub-area to be welded;
The electronic equipment determines the weld joint width of the ith sub-area to be welded according to the average width of the ith sub-area to be welded, wherein the weld joint width of the ith sub-area to be welded is larger than or equal to the average width of the ith sub-area to be welded.
7. The method of claim 6, wherein the electronic device determining the weld width of the ith sub-area to be welded based on the average width of the ith sub-area to be welded, comprises:
The electronic equipment determines the weld bead width Y of the ith sub-area to be welded according to the average width X of the ith sub-area to be welded, the average width multiple relation alpha of the weld bead width and the area and an error factor beta, wherein the value of the average width multiple relation alpha of the weld bead width and the area is more than 1, the value of the error factor beta is a positive number, the weld bead width of the ith sub-area to be welded is more than the maximum width of the ith sub-area to be welded, and the weld bead width of the ith sub-area to be welded meets the following relation: y=α·x+β.
8. The method according to claim 7, wherein the larger the number of radians included in the ith sub-area to be welded and/or the larger the radian of the ith sub-area to be welded, the larger the value of the error factor β corresponding to the ith sub-area to be welded.
9. The method according to any one of claims 6-8, further comprising:
And the electronic equipment determines the welding sequence of the M sub-areas to be welded according to the sequence of the welding line widths of the M sub-areas to be welded from large to small or from small to large.
10. A vision-based adaptive weld adjustment system, the system comprising an electronic device, the system configured to:
the electronic equipment acquires an image shot for a welded object;
the electronic equipment determines a region to be welded of the welded object from the image, and divides the region to be welded into M sub-regions to be welded, wherein M is an integer greater than 1;
And the electronic equipment dynamically determines the weld widths of the M sub-areas to be welded according to the forms of the M sub-areas to be welded.
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| WO2023284502A1 (en) * | 2021-07-13 | 2023-01-19 | 杭州睿胜软件有限公司 | Image processing method and apparatus, device, and storage medium |
| JP2023014675A (en) * | 2021-07-19 | 2023-01-31 | 株式会社神戸製鋼所 | Welding phenomenon behavior measurement method, measurement device, welding system, and program |
| CN117218246A (en) * | 2023-03-10 | 2023-12-12 | 腾讯科技（深圳）有限公司 | Training method and device for image generation model, electronic equipment and storage medium |
| CN117576094A (en) * | 2024-01-15 | 2024-02-20 | 中铁科工集团有限公司 | 3D point cloud intelligent sensing weld joint pose extraction method, system and equipment |
| CN117817223A (en) * | 2024-03-05 | 2024-04-05 | 宝鸡康盛精工精密制造有限公司 | Welding seam identification method for robot welding |
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