CN207077079U - A kind of precise vision seam tracking system of stabilization - Google Patents
A kind of precise vision seam tracking system of stabilization Download PDFInfo
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- CN207077079U CN207077079U CN201621444633.2U CN201621444633U CN207077079U CN 207077079 U CN207077079 U CN 207077079U CN 201621444633 U CN201621444633 U CN 201621444633U CN 207077079 U CN207077079 U CN 207077079U
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Abstract
The utility model provides a kind of precise vision seam tracking system of stabilization, including welding gun, laser, double target surface imaging device, processor and the controllers being installed on mobile platform；Laser, using project structured light around assembling seam to be welded；Double target surface imaging devices, welding zone picture signal is gathered in synchronization；Processor, to being handled by the structure light image after assembling seam modulation to be welded, and pass through controller, control mobile platform coarse adjustment, the imaging features parameter obtained simultaneously according to image co-registration, according to the relative pose parameter between laser, double target surface imaging devices, assembling seam to be welded, the spatial pose dispersed parameters of welding gun are obtained in real time, and pass through the space pose of controller accurate adjustment welding gun.The beneficial effects of the utility model are, while using to mobile platform coarse adjustment and Butt welding gun accurate adjustment, introduce laser emitting structural light at assembling seam to be welded, have resisted the influence of arc light flicker, make tracking system more stable and accurate.
Description
Technical field
It the utility model is related to welding field, more particularly to a kind of precise vision seam tracking system of stabilization.
Background technology
High speed MAG, which is welded in the manufacture of the Large-Scale Equipments such as ship, track traffic, extra large frock standby, nuclear power, to have a wide range of applications,
It is to realize that such Large-Scale Equipment realizes a key technology of Intelligent welding that high speed MAG, which welds accurate weld joint tracking,.Vision weld joint with
Technology has the advantages that acquisition information is comprehensive, contactless, progress is high, accordingly fast etc., in the weld seam that Laser Welding, TIG welderings, MAG are welded
There is certain commercial Application in tracking.
To reduce interference of the arc light to imaging in welding process, main use is based on structure light assist type pattern at present：
Molten bath proparea certain distance treats welding line upslide ray structure light, and camera obtains the structure light after being modulated by weld groove to be welded
Image, feature of interest parameter is obtained by image procossing, combining camera imaging parameters obtain seam track.However, welded
The factors such as thermal deformation, magnetic force blow, wire bending in journey be present, this advanced weld joint tracking mode to occur in welding process
It is partially welded.To eliminate the advanced error that these factors are brought, part research worker reduces structure light by the way of optimal imaging
The distance between molten bath, but arc light serious interference, later image processing is complicated, and stability is poor；Another part researcher uses
High dynamic camera is directly imaged to molten bath and its proparea weld seam, but the weld seam that can be obtained in high speed MAG welderings is shorter, it is difficult in time
Calculate bias guiding welding gun motion.Therefore, a set of accurate combined type vision weld joint tracking is worked out with reference to high speed MAG
System has important application value.
In view of drawbacks described above, creator of the present invention obtains the present invention finally by prolonged research and practice.
Utility model content
To solve the above problems, the technical solution adopted in the utility model is, there is provided a kind of precise vision weldering of stabilization
Stitch tracking system, including processor, controller and the welding gun being installed on mobile platform, laser and double target surface imaging devices；
The laser, for using project structured light around the connected assembling to be welded seam in molten bath proparea；Double target surface imaging dresses
Put, including first camera and second camera, double target surface imaging devices are used to, in synchronization, utilize two cameras in it
The picture signal of welding zone HDR is gathered under different imaging parameters；The processor, respectively with the controller, double targets
Imaging device is connected, on the one hand, what the processor collected to double target surface imaging devices is modulated by assembling seam to be welded
Structure light image afterwards is handled, and processing information is transferred into the controller, online rough planning mobile platform
Movement locus；On the other hand, the processor collects crater image to double target surface imaging devices, adjusted by assembling seam to be welded
Structure light image after system is merged, and obtains imaging features parameter, while the processor is according to the laser, double targets
Relative pose parameter between imaging device, assembling seam to be welded, converse the inclined of the relatively described assembling seam to be welded in molten bath center
From amount, the spatial pose dispersed parameters of the welding gun are obtained in real time, are transferred to the controller, the phase of welding gun described in intense adjustment
To spatial pose.
Further, the laser is incident upon around the connected assembling to be welded seam in molten bath proparea using four line-structured lights,
And adjacent line-structured light is vertical two-by-two, rectangle is formed.
Further, double target surface imaging devices also include semi reflective lens, and the first camera and second camera are in 90 °
Set and the semi reflective lens are arranged on the angular bisector of the first camera and second camera.
Further, filtering structure, and the filter are provided with the printing opacity direction of the first camera and the second camera
Photo structure is arranged at the top of semi reflective lens, and the filtering structure is used for the arc light interference for filtering off subband.
Further, weakening structure is additionally provided with the printing opacity direction of the first camera and the second camera, and it is described
Weakening structure is arranged at the top of the semi reflective lens, and the weakening structure is used for the entrance for reducing light.
Further, the mounting base of fixed double target surface imaging devices is provided with chute or slideway, double target surfaces into
As the camera mounting box in device can move relative to any one position of the chute or slideway.
Further, the camera mounting box is fixed on the mounting base by fastener.
Further, barrier eyeglass is provided with the bottom of double target surface imaging devices, for stopping the weldering in welding process
Infringement of the slag to the semi reflective lens, first camera and second camera.
The beneficial effects of the utility model are compared with the prior art：1st, vision weld joint tracking system of the present utility model
System, while using to the mobile platform coarse regulation with to the welding gun intense adjustment, it is incorporated in the mistake of accurate adjustment welding gun
Cheng Zhong, the laser emitting structural light is introduced at the assembling seam to be welded that molten bath proparea is connected so that collection image is in arc light
The feature of interest influenceed in hypograph is relatively stable, has resisted influence of the arc light flicker to image quality to a certain extent,
Make seam tracking system more stable, more accurate in welding process；2nd, in the first camera and the second camera
Printing opacity direction is provided with filtering structure, and the arc light for filtering off subband disturbs, and makes imaging effect more preferable；3rd, in the installation
Bottom plate is provided with chute or slideway, and the camera mounting box in double target surface imaging devices can be in any one of the chute or slideway
Position is moved, and in actual applications, the position of the first camera or the second camera is adjusted according to different welding procedures
Put, obtain rational imaging region；4th, barrier eyeglass is provided with the bottom of double target surface imaging devices, was welded for stopping
Welding slag in journey damages to caused by the first camera, second camera and semi reflective lens.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the precise vision seam tracking system of stabilization of the utility model；
Fig. 2 is the structural representation of the double target surface imaging devices of the utility model；
Fig. 3 A are the image that first camera gathers in 5s in the double target surface imaging devices of the utility model；
Fig. 3 B are the image that first camera gathers in 25s in the double target surface imaging devices of the utility model；
Fig. 3 C are the image that first camera gathers in 50s in the double target surface imaging devices of the utility model；
Fig. 3 D are the image that second camera gathers in 5s in the double target surface imaging devices of the utility model；
Fig. 3 E are the image that second camera gathers in 25s in the double target surface imaging devices of the utility model；
Fig. 3 F are the image that second camera gathers in 50s in the double target surface imaging devices of the utility model；
Fig. 4 is the fundamental diagram of the utility model image co-registration；
Fig. 5 is the structural representation for the mounting base that the utility model fixes double target surface imaging devices；
Fig. 6 A are when double target surface imaging parameters are determined in the utility model embodiment six, and the light intensity after numerical simulation calculation is moved
State compares distribution map；
Fig. 6 B are when double target surface imaging parameters are determined in the utility model embodiment six, to carry out the light intensity after glistening light of waves function and move
State compares distribution map；
Fig. 6 C are that combining camera spectrum respective function obtains when double target surface imaging parameters are determined in the utility model embodiment six
To optical filtering after distribution function figure of the illumination in camera imaging face.
Embodiment
Below in conjunction with accompanying drawing, and other technical characteristic above-mentioned to the utility model and advantage are described in more detail.
Embodiment one
Referring to Fig. 1, its structural representation for a kind of precise vision seam tracking system of stabilization of the utility model.
Such as Fig. 1, a kind of precise vision seam tracking system of stabilization, including welding gun 1, controller 2, laser 3, double target surfaces
Imaging device 4 and processor 5, the welding gun 1, laser 3 and double target surface imaging devices 4 are installed on mobile platform 6, the control
Device 2 and processor 5 processed need to ensure that it is connected between other each parts.
The laser 3, for being incident upon using structure light 31 around the connected assembling to be welded seam 8 in the proparea of molten bath 7；Institute
Double target surface imaging devices 4 are stated, including first camera 41 and second camera 42, double target surface imaging devices 4 are used for for the moment
Carve, gather the picture signal of welding zone HDR under different imaging parameters using two cameras in it；The processor
5, it is connected respectively with the controller 2 and double target surface imaging devices 4, on the one hand, the processor 5 is to double target surface imaging dresses
Put 4 structure light images stitched after modulation by assembling to be welded collected to be handled, and processing information is transferred to the control
Device 2, the movement locus of online rough planning mobile platform, on the other hand, the processor 5 is to double target surface imaging devices
4 collect crater image, are merged by the structure light image after assembling seam modulation to be welded, while the processor 5 is according to institute
The relative pose parameter between laser 3, double target surface imaging devices 4, assembling seam 8 to be welded is stated, converses the center phase in molten bath 7
Bias to the assembling seam 8 to be welded, obtains the spatial pose dispersed parameters of the welding gun 1, is transferred to the control in real time
Device 2, the space pose of welding gun 1 described in intense adjustment.
Laser 3 described above can use a plurality of line-structured light 31 to be incident upon the connected assembling to be welded seam 8 in the proparea of molten bath 7
Around, quadrangle, pentagon and other polygons are formed, as shown in figure 1, in the present embodiment, preferably described laser 3
It is incident upon using four line-structured lights 31 around the connected assembling to be welded seam 8 in molten bath proparea, and adjacent line-structured light 31 is two-by-two
Vertically, rectangle is formed, in this way, being advantageous to accelerate extraction rate of the processor 5 to the line-structured light feature.
Vision weld joint tracking system of the present utility model, using to the coarse regulation of mobile platform 6 and to the essence of welding gun 1
While fine control, during being incorporated in accurate adjustment welding gun, the emitting structural light 31 of laser 3 is introduced before molten bath
At the connected assembling to be welded seam 8 in area so that feature of interest of the collection image in arc light influences hypograph is relatively stable, one
Determine to have resisted influence of the arc light flicker to image quality in degree, seam tracking system is more stablized in welding process, more
Add precision.
Referring to Fig. 2, it is the structural representation of the double target surface imaging devices of the utility model.
As shown in Fig. 2 a kind of double target surface imaging devices 4, including first camera 41, second camera 42, semi reflective lens 43
And camera mounting box 44, camera mounting box 44 are fixed on mounting base 45, the first camera 41 and the second camera
42 are separately fixed in each self-corresponding camera mounting box 44, and the first camera 41 and second camera 42 are set to 90 degrees
And the semi reflective lens 43 are arranged on the angular bisector of the first camera 41 and second camera 42.
After the determination of the imaging parameters of the first camera 41 and the second camera 42, in synchronization, using described
First camera 41 is imaged with the assembling to be welded seam 8 that the second camera 42 is connected to the molten bath 7 with the proparea of molten bath 7, such as
Shown in Fig. 2, the light of target reflection to be monitored reaches semi reflective lens 43, and it is saturating that a part of light 411 is directed through the semi reflective
Mirror 43, it is imaged in the first camera 41, after a part of light 421 is reflected by the semi reflective lens 43, described second
It is imaged in camera 42, synchronization obtains two images, the first camera 41 and the second camera 42 in two cameras
For the imaging results of acquisition as shown in Fig. 3 A, 3B, 3C, 3D, 3E, 3F, it is respectively first camera described in double target surface imaging devices
41 images gathered in the images, the image that is gathered in 25s of first camera 41, first camera 41 of 5s collections in 50s, the
Image that image that two cameras 42 gather in 5s, second camera 42 gather in 25s, second camera 42 gather in 50s
Image；In the first camera 41, a piece of of vast expanse of whiteness is presented in the region where the molten bath 7, and the proparea of molten bath 7 is connected to be welded
Assembling seam 8 is high-visible, and the assembling seam 8 to be welded is longer, and in the second camera 42, the pattern in the molten bath 7 is clear
It can be seen that the assembling to be welded seam 8 that the proparea of molten bath 7 is connected is indistinctly it can be seen that a very short part.
On this basis, the processor 5 uses image fusion technology, using simultaneously obtain ground two width figure sources in redundancy,
Complementary information is merged, and obtains the image more suitable for computer disposal, wherein, operation principle such as Fig. 4 institutes of image co-registration
Show, define the region that A is the larger objective body, i.e. molten bath 7 of brightness, definition B is the less objective body of brightness, the i.e. proparea of molten bath 7
Connected assembling to be welded seam 8.
As shown in figure 4, image b, the c processing obtained first to the first camera 41 and the second camera 42,
Feature of interest A, B is extracted respectively, d is such as schemed, shown in e；Secondly, imaging characteristicses and image registration according to the first camera 41
Method spatial alternation is done to feature of interest B, as figure f shown in, feature of interest B is transformed into the second camera 42
In image coordinate system, as shown in figure g；Then, based on the mode of array operation to scheme e map sheet be adjusted, maintain figure e with
Figure g corresponds to array size uniformity, is easy to the fusion calculation in later stage；Finally, according to parallel-melt method, by feature of interest B,
A is fused in figure i, obtains image imaging parameters, when to realize welding gun movement locus in welding process correction foundation is provided.
Embodiment two
A kind of precise vision seam tracking system of stabilization as described above, the present embodiment are different from part and are, such as
Shown in Fig. 2, barrier eyeglass 46 is provided with the bottom of double target surface imaging devices 4, for stopping the welding slag pair in welding process
Infringement caused by the first camera 41, the second camera 42 and the semi reflective lens 43, wherein, the barrier eyeglass 46
Material require that the light of target to be monitored reflection can pass through the barrier eyeglass 46 reach the semi reflective lens 43, Yi Mianying
Ring imaging effect.
Embodiment three
A kind of precise vision seam tracking system of stabilization as described above, the present embodiment are different from part and are, such as
Shown in Fig. 2, filtering structure 47, and the optical filtering are provided with the printing opacity direction of the first camera 41 and the second camera 42
Structure 47 is arranged at the top of the semi reflective lens 43, and the filtering structure 47 is used for the arc light interference for filtering off subband.
Further, it is additionally provided with weakening structure on the printing opacity direction of the first camera 41 and/or the second camera 42
48, and the weakening structure 48 is arranged at the top of the semi reflective lens 43, the weakening structure 48 enters for reducing light
Enter the first camera 41 and/or the second camera 42, obtain rational light exposure.Whether need to set the weakening structure
48 need to determine according to the actual conditions that the first camera 41 or the second camera 42 are imaged, as shown in Fig. 2 the present embodiment
In, filtering structure 47 and weakening structure 48 are sequentially provided with the printing opacity direction of the first camera 41, in the second camera
Filtering structure 47 is provided only with 42 printing opacity direction, to reach preferable imaging effect.
Wherein, the setting order of the filtering structure 47 and weakening structure 48 is not restricted, can first pass through light path
The filtering structure 47, after by the weakening structure 48, light path can also be made to first pass through the weakening structure 48, then pass through institute
State filtering structure 47.
Example IV
A kind of precise vision seam tracking system of stabilization as described above, the present embodiment are different from part and are, such as
Shown in Fig. 5, chute 451 or slideway 451 are provided with the mounting base 45, the camera mounting box 44 can be in the chute
451 or slideway 451 any one position movement.
In the present embodiment, the camera mounting box 44 is fixed on the chute 451 or slideway 451 by fastener, institute
Stating fastener includes screw 491 and nut 492, and the screw 491 is through the camera mounting box 44 and the chute 451 or slides
Road 451, locked with the nut 492.In actual applications, according to different welding procedures, adjust the first camera 41 or
The position of the second camera 42, obtains rational imaging region.During adjustment, the nut 492 need to only be unclamped, by the spiral shell
491 relatively described chutes 451 or slideway 451 of silk are moved to specified location, finally lock the nut 492, wherein, institute
The structure for stating fastener is not limited only to this, can also be the structure of other lockings.
Embodiment five
A kind of tracking of the precise vision seam tracking system of stabilization is as described above：
(1) double target surface imaging parameters are determined：It is compound under the conditions of complex light photograph to establish laser 3, arc light and natural light
Illumination model simultaneously uses experimental test amendment, the receptance function of two cameras as during is combined into, using the side of numerical simulation
Formula, 8 are stitched when arc light is bright, dark along the light intensity dynamic in assembling seam direction to be welded with reference to the assembling to be welded of molten bath 7 and its proparea is obtained
Light intensity dynamic than distribution, and combining camera itself determines two cameras in double target surface imaging devices than parameter and parameters of interest
The relative distance of field of view center and the size parameter of visual field；
(2) the emitting structural light 31 of laser 3 is incident upon around the connected assembling to be welded seam 8 in the proparea of molten bath 7；
(3) light reflected at assembling seam to be welded is imaged in the different camera of two imaging parameters, and synchronization obtains two
Width image, the processor 5 are handled the structure light image stitched by assembling to be welded after 8 modulation collected, and will processing
Information transfer gives the controller 2, the movement locus of online rough planning mobile platform；
(4) processor 5 collects to double target surface imaging devices 4 crater image, 8 modulation are stitched by assembling to be welded
Structure light image afterwards is merged, and obtains imaging features parameter, while the processor 5 is according to the laser 3, double targets
Relative pose between imaging device 4, assembling seam 8 to be welded, converse the relatively described assembling seam 8 to be welded in center in molten bath 7
Bias, the spatial pose dispersed parameters of the welding gun 1 are obtained in real time, be transferred to the controller 2, weldering described in intense adjustment
The space pose of rifle 1, ensure that welding gun stitches 8 weldings with appropriate posture along assembling to be welded.In step (1) described above,
Two cameras are set to 90 degrees and semi reflective lens 43 are arranged on the angular bisector of two cameras, so, can be made into
As effect is more preferable.
In step (2) described above, the laser using four structure lights 31 be incident upon molten bath proparea be connected it is to be welded
Around assembling seam 8, and adjacent structure light 31 is vertical two-by-two, forms rectangle, in this way, being advantageous to accelerate at place described in the later stage
Device 5 is managed to the extraction rate of the structure light feature, makes welding more accurate.
Embodiment six
A kind of precise vision welding seam tracking method of stabilization as described above, the present embodiment are different from part, are, on
State in the step (1), the different filtering structure of arrange parameter is distinguished on the printing opacity direction of two cameras, for reducing
The interference of arc light.
It is determined that during imaging parameters, the receptance function of the filtering structure as during need to be combined into, the specific of parameter determined
Journey as shown in Fig. 6 A, 6B, 6C, wherein, the solid line in Fig. 6 A, 6B, 6C is strong arc, and dotted line is soft arc：First, with infinite point light
According on the basis of, establish arc light, molten bath, laser, natural lighting lower edge assembling seam direction to be welded (for apart from origin at molten bath)
Light intensity dynamic is than distributed model (binding tests are modified) and carries out simulation calculating, and its light intensity dynamic is than distribution such as Fig. 6 A institutes
Show；Secondly, according to Spectroscopic analysis results iting can be seen from, in MAG welderings, arc light influences most weak when 650nm, therefore selection 650nm, bandwidth
Carried out for 50nm filtering structure, the illumination dynamic established after filtering is than model and carries out numerical simulation calculation, its light intensity dynamic
Than being distributed as shown in Figure 6B；Finally, combining camera spectrum respective function, point of the illumination in camera imaging face after being filtered
Cloth function, as shown in Figure 6 C, in conjunction with the intrinsic dynamic ratio of camera, feature of interest region, the position of adjustment auxiliary laser line
Put, the parameter such as the visual field size of camera, the centre distance of double target surface imaging viewing fields, in feature of interest always in the premise of visual field
Intrinsic dynamic ratio of the lower illumination dynamic ensured in whole welding process than no more than camera.
Embodiment seven
A kind of precise vision welding seam tracking method of stabilization as described above, the present embodiment are different from part, are, on
State in the step (1), the different weakening structure of arrange parameter is distinguished on the printing opacity direction of two cameras, for reducing
Bright entrance, obtains rational light exposure.
When double target surface imaging parameters are determined by the way of mathematical modeling and numerical simulation are combined, also need to combine dim light knot
The relevant parameter of structure.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
Art personnel, on the premise of the utility model method is not departed from, some improvement and supplement can also be made, these are improved and supplement
Also it should be regarded as the scope of protection of the utility model.
Claims (8)
1. a kind of precise vision seam tracking system of stabilization, including the welding gun being installed on mobile platform, it is characterised in that also
Including processor, controller and the laser being installed on mobile platform and double target surface imaging devices；
The laser, for using project structured light around the connected assembling to be welded seam in molten bath proparea；
Double target surface imaging devices, including first camera and second camera, double target surface imaging devices are used for for the moment
Carve, gather the picture signal of welding zone HDR under different imaging parameters using two cameras in it；
The processor, it is connected respectively with the controller, double target surface imaging devices, on the one hand, the processor is to described double
What target surface imaging device collected is handled by the structure light image after assembling seam modulation to be welded, and processing information is transferred to
The controller, the movement locus of online rough planning mobile platform；
On the other hand, the processor collects crater image to double target surface imaging devices, by after assembling seam modulation to be welded
Structure light image merged, and obtain imaging features parameter, at the same the processor according to the laser, double target surfaces into
As the relative pose parameter between device, assembling seam to be welded, the bias of the relatively described assembling seam to be welded in molten bath center is conversed,
The spatial pose dispersed parameters of the welding gun are obtained in real time, are transferred to the controller, the sky relatively of welding gun described in intense adjustment
Between pose.
2. the precise vision seam tracking system of stabilization according to claim 1, it is characterised in that the laser uses
Four line-structured lights are incident upon around the connected assembling to be welded seam in molten bath proparea, and adjacent line-structured light is vertical two-by-two, forms square
Shape.
3. the precise vision seam tracking system of stabilization according to claim 1, it is characterised in that double target surface imagings
Device also includes semi reflective lens, and the first camera and second camera are set to 90 degrees and the semi reflective lens are arranged at institute
On the angular bisector for stating first camera and second camera.
4. the precise vision seam tracking system of stabilization according to claim 3, it is characterised in that in the first camera
Filtering structure is provided with the printing opacity direction of the second camera, and the filtering structure is arranged at the top of semi reflective lens,
The filtering structure is used for the arc light interference for filtering off subband.
5. the precise vision seam tracking system of stabilization according to claim 4, it is characterised in that in the first camera
With weakening structure is additionally provided with the printing opacity direction of the second camera, and the weakening structure is arranged at the semi reflective lens
Top, the weakening structure are used for the entrance for reducing light.
6. according to the precise vision seam tracking system of any described stabilizations of claim 1-5, it is characterised in that described in fixed
The mounting base of double target surface imaging devices is provided with chute or slideway, and the camera mounting box in double target surface imaging devices can
Moved relative to any one position of the chute or slideway.
7. the precise vision seam tracking system of stabilization according to claim 6, it is characterised in that the camera mounting box
It is fixed on by fastener on the mounting base.
8. according to the precise vision seam tracking system of any described stabilizations of claim 3-5, it is characterised in that described double
The bottom of target surface imaging device is provided with barrier eyeglass, for stopping the welding slag in welding process to the semi reflective lens, first
The infringement of camera and second camera.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106475664A (en) * | 2016-12-27 | 2017-03-08 | 广东省智能制造研究所 | A kind of stable precise vision seam tracking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106475664A (en) * | 2016-12-27 | 2017-03-08 | 广东省智能制造研究所 | A kind of stable precise vision seam tracking system |
| CN106475664B (en) * | 2016-12-27 | 2021-06-25 | 广东省智能制造研究所 | Stable accurate vision welding seam tracking system |
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Address after: 510075 room 702, building 13, courtyard 100, Xianlie Middle Road, Guangzhou City, Guangdong Province Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510075 room 702, building 13, courtyard 100, Xianlie Middle Road, Guangzhou City, Guangdong Province Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |