JPH09101113A - Method and device for measuring beveling position and its form - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately measure the position and form of bevelling accurately without erroneous detection of a secondary reflection image by detecting a line element corresponding to the outer surface part of an object to be welded, obtaining a terminal point on the side of its slant surface, and detecting a line element group being a candidate corresponding to a slant surface part of bevelling. SOLUTION: In measuring the position and form of objects to be welded 21, 22, first an linear element (a) corresponding to the outer surface part A of the object 21, 22 is detected, then a terminal point (u) on the side of its slant face part is obtained. Then, all candidate linear elements b1, b2... corresponding to the part B including a secondary reflection image are detected, and the candidates b1, b2... of linear element corresponding to the slant surface part B and the linear element (a) corresponding to the part A and crossing points p1, p2 are obtained respectively. Thereafter, in consideration of the distance between the crossing points p1, p2... and the terminal point (u) the linear element corresponding to the slant part B is determined.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a groove position of a groove formed by abutting two objects to be welded, each groove having an outer surface portion and an inclined surface portion which intersects the outer surface portion at an angle of more than 90 degrees and less than 180 degrees. The slit light irradiating means irradiates the groove with slit light, and at this time, the light cutting image reflected from the surface of the object to be welded is imaged by the imaging means, and image processing is performed to measure the object position and shape. Regarding the device.

[0002]

2. Description of the Related Art As an example of a conventional method for detecting the position of a groove where a workpiece is butted, slit light is emitted from a slit light emitting means as disclosed in Japanese Patent Laid-Open No. 6-331332. Then, the reflected light of the slit light reflected on the groove is imaged by an image pickup means, and the imaged image is processed to measure the groove position.

[0003]

When the angle between the slit light and the object to be welded (tangential line of the object to be welded when the object to be welded is a cylindrical pipe) is not a right angle, a secondary reflection image of the slit light is generated. .

For example, in a device as shown in FIG.
Angle φ1 formed by the slit light 25 and the objects to be welded 21, 22
(Here, the angle formed is the angle on the side of the image pickup means 26) is smaller than 90 degrees and larger than 0 degrees.
When the angle φ2 formed by the center line of 6 and the objects to be welded 21 and 22 is smaller than the angle φ1 formed between the slit light 25 and the objects to be welded 21 and 22 and is larger than 0 degree, the slit as shown in FIG. A light reflection image is detected. Here, 3A is a primary reflection image in which the slit light 25 is reflected on the outer surface A, and 3B is
Primary reflection image of slit light 25 reflected on slope B, 3C
Is a primary reflection image in which the slit light 25 is reflected on the outer surface C,
3D is the primary reflection image in which the slit light 25 is reflected on the slope D, 4B is the secondary reflection image in which the slit light 25 is reflected on the slope D, and further is reflected on the slope B, 4D is the slit light 25 in the slope It is a secondary reflection image reflected on B and further on slope D.

Further, the slit light 25 and the objects to be welded 21, 21
When the angle φ1 formed with 2 is smaller than 180 degrees and larger than 90 degrees, a reflection image as shown in FIG. 4 is detected.

In particular, when the object to be welded is a cylindrical pipe, the running rail of the welding machine equipped with the groove position and shape measuring device and the central axis of the pipe do not match, or the deflection changes due to the non-uniform posture. Therefore, it is difficult to keep the irradiation angle of the slit light constant, and a secondary reflection image may occur on the slope of the groove.

The method disclosed in Japanese Unexamined Patent Publication No. 6-331332 does not include a process of processing the primary reflection image and the secondary reflection image in the same manner and distinguishing the primary reflection image from the secondary reflection image. Therefore, the primary reflection image 3B and the secondary reflection image 4B of the slit light, and the primary reflection image 3C and the secondary reflection image 4C cannot be distinguished. Therefore, the secondary reflection image 4B may be erroneously detected as the primary reflection image 3B, or the secondary reflection image 4C may be erroneously detected as the primary reflection image 3C, and an incorrect groove position and shape are output. There will be cases.

An object of the present invention is to provide a groove position and shape of a groove in which two objects to be welded are abutted with each other having an outer surface portion and an inclined surface portion which intersects with the outer surface portion at an angle larger than 90 degrees and smaller than 180 degrees. By irradiating the groove with slit light from the slit light irradiating means, and capturing the reflected image of the slit reflected on the surface of the object to be welded with the image capturing means, and the image captured by the image capturing means. Image processing the groove position,
In a groove position and shape measuring device for measuring a shape, a secondary reflection image of slit light is not erroneously recognized as a primary reflection image, and the position of the groove and the groove position and shape for accurately measuring the shape are measured. It is to provide a measuring method and apparatus.

[0009]

The position and shape of a groove formed by abutting two objects to be welded, each having an outer surface portion and a slope portion whose angle formed by the outer surface portion is greater than 90 degrees and less than 180 degrees, are defined. By irradiating the groove with slit light from slit light irradiating means, the reflected image of the slit light reflected on the groove is captured by an image capturing means, and the light-section image detected by the image capturing means is subjected to image processing. In the method for measuring the groove position and shape to be measured, a first step of detecting a line element corresponding to the outer surface portion of the workpiece, and a sloped portion of the line element corresponding to the outer surface portion of the workpiece. The second step of detecting the end point on the side, the third step of detecting the line element group of candidate line elements corresponding to the slope portion of the groove, and the third step of detecting the line element candidate corresponding to the slope portion of the groove. The line elements and the outer surface of the work piece The fourth step of calculating the respective intersections with the line elements to be formed, and when there are a plurality of line element candidates corresponding to the slope of the groove, at least the line elements corresponding to the outer surface of the workpiece are to be formed. From the end point on the slope side of the groove, in consideration of the distance to the intersection of the line element of the candidate line element corresponding to the slope section of the groove and the line element corresponding to the outer surface part of the workpiece, By having the fifth step of determining one line element corresponding to the slope portion of the groove,
Can achieve the task.

Further, the position and shape of the groove in which two objects to be welded having an outer surface portion and an inclined surface portion whose angle formed by the outer surface portion is greater than 90 degrees and less than 180 degrees are abutted,
By irradiating the groove with slit light from the slit light irradiating means, the slit light is imaged by the image pickup means for the reflection image reflected by the groove, and by image processing the light section image detected by the image pickup means, In the measuring device for measuring the groove position and shape, the slit light irradiating means is arranged such that an angle formed by the slit light irradiating means and the object to be welded is larger than 0 degree and smaller than 90 degrees. The image pickup means is arranged such that the angle formed by the image pickup means and the object to be welded is larger than 0 degree and smaller than the angle formed by the slit light irradiating means and the object to be welded, and the image processing means is the image pickup means. When there are a plurality of line element candidates corresponding to the slope portion of the groove obtained by performing image processing on the reflection image of the slit light obtained by the means, lines of candidate line elements corresponding to the slope portion of the groove. element Among, expressed in the standard form of Hesse, the absolute value of the angle θ between the vector and the x-axis orthogonal from the origin of the xy Cartesian a straight line obtained by extending the line elements |
The problem can also be achieved by providing a means for detecting a line element having the smallest θ | as a line element corresponding to the slope of the groove.

Further, the position and shape of the groove where two objects to be welded are abutted with each other having an outer surface portion and an inclined surface portion whose angle formed by the outer surface portion is larger than 90 degrees and smaller than 180 degrees,
By irradiating the groove with slit light from the slit light irradiating means, the slit light is imaged by the image pickup means for the reflection image reflected by the groove, and by image processing the light section image detected by the image pickup means, In the measuring device for measuring the groove position and shape, the slit light irradiating means is arranged such that the angle formed by the slit light irradiating means and the object to be welded is larger than 90 degrees and smaller than 180 degrees. The image pickup means is arranged such that the angle formed by the image pickup means and the object to be welded is larger than 0 degree and smaller than 90 degrees, and the image processing means displays the reflection image of the slit light obtained by the image pickup means. When there are a plurality of line element candidates corresponding to the slope part of the groove obtained by image processing, in the line element group of candidate line elements corresponding to the slope part of the groove, the standard form of Hessian so The linear element having the largest absolute value | θ | of the angle θ formed by the vector orthogonal to the straight line extending the linear element from the origin of the xy orthogonal coordinate system and the x-axis corresponds to the slope of the groove. The problem can be achieved also by having a means for detecting as an element.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is an explanatory view of the process of the present invention, FIG. 2 is a perspective view schematically showing the constitution of an apparatus to which the present invention is applied, FIG.
4 is a light section image of the groove taken by the image pickup means 26 of FIG. 2, and FIG. 3 shows the slit light 25 and the objects to be welded 21, 22.
When the angle φ1 formed by and is smaller than 90 degrees and larger than 0 degrees, FIG. 4 shows the case where the angle φ1 formed by the slit light 25 and the objects to be welded 21, 22 is smaller than 180 degrees and larger than 90 degrees. FIG. 5 is a flow chart for explaining the procedure for measuring the groove position and shape, and FIG. 6 shows the area 2 in FIG.
FIG. 7 is a schematic diagram showing change point data obtained by performing the procedure 52 of FIG. 7, and FIG. 7 is a flowchart for explaining the procedure 54 of FIG. 5 in detail.

In FIG. 2, reference numerals 21 and 22 denote objects to be welded, 23 denotes a welding torch, 24 denotes slit light irradiating means for irradiating linear slit light, and 25 denotes slit light irradiating means 24. Slit light, 26 is an image pickup means for picking up a reflected image of the slit light 25 reflected by the objects to be welded 21, 22, 27 is an image processing means for processing the image picked up by the image pickup means, and 28 is a sensor coordinate system. is there.

In the apparatus of FIG. 2, when the slit light irradiating means 24 is arranged so that the angle φ1 formed by the slit light 25 and the objects to be welded 21 and 22 is 90 degrees, the angle φ1 is exactly 90 degrees. Hard to keep in.

As described above, particularly when the object to be welded is a cylindrical pipe, the running rail of the welding machine equipped with the measuring device for the groove position and shape and the central axis of the pipe do not match, or the posture is not constant. It is difficult to keep the irradiation angle of the slit light constant due to a change in the deflection due to some reason.

FIG. 3 is the apparatus of FIG. 2, and when the angle φ1 formed by the slit light 25 and the objects to be welded 21, 22 is smaller than 90 degrees and larger than 0 degrees, FIG. 4 shows the apparatus of FIG. 2 is an image taken by the imaging means 26 when the angle φ1 formed by the slit light 25 and the objects to be welded 21, 22 is smaller than 180 degrees and larger than 90 degrees.

Here, in FIGS. 3 and 4, 3A is a primary reflection image in which the slit light 25 is reflected on the outer surface A, 3B is a primary reflection image in which the slit light 25 is reflected on the slope B, and 3C is. , A primary reflection image in which the slit light 25 is reflected on the outer surface C, 3D
Is a primary reflection image in which the slit light 25 is reflected on the slope D, 4
B is a secondary reflection image in which the slit light 25 is reflected on the slope D and further reflected on the slope B, and 4D is a secondary reflection image in which the slit light 25 is reflected on the slope B and further reflected on the slope D. is there.

When measuring the position and shape of the groove, the primary reflection image 3B and the secondary reflection image 4B, and the primary reflection image 3D are taken into consideration without considering the possibility that a secondary reflection image may occur.
The secondary reflection image 4D cannot be distinguished from the secondary reflection image 4D, and the position and shape of the groove may be erroneously measured.

FIG. 1 is a schematic diagram for explaining the process of the present invention. First, a method for distinguishing the primary reflection image 3B and the secondary reflection image 4B according to the present invention will be described with reference to FIG.
Here, FIG. 1 shows the case where the angle φ1 formed by the slit light 25 and the objects to be welded 21, 22 is smaller than 90 degrees and larger than 0 degree. Hereinafter, description will be made by taking this case as an example. The angle φ1 formed by the objects to be welded 21 and 22 is 180
It is also applicable when the angle is smaller than 90 degrees and larger than 90 degrees.

First, the line element a corresponding to the outer surface portion A of FIG. 2 is detected, and the end point u on the slope portion side is obtained.

Next, all the line element candidates b1, b2, ... Corresponding to the slope B, including the secondary reflection image, are detected, and the line element candidates b1, b2 ,. Intersection points p1, p2, ... With the line element a corresponding to the surface portion A are obtained.

Then, the line element corresponding to the line element corresponding to the slope B is determined in consideration of the distance between the intersection points p1, p2, ... And the end point u.

Next, of the positions and shapes of the joints (grooves) of the objects to be welded 21 and 22, as an example, a method of measuring the groove width W will be described in detail with reference to FIG. .

First, in step 51, the image picked up by the image pickup means 26 is stored in the image memory.

Next, in step 52, change point data is created based on the data stored in the image memory. FIG. 6 shows an example of change point data. FIG. 6 is a schematic diagram showing the change point data of the area 2 in FIG. 3, in which the black square points are
This is the detected change point. As the method of creating the change point data, a threshold value of brightness is set to perform binarization processing, and a smoothing differentiation is performed to obtain a maximum value and a middle point of a minimum value. There is a method of using it as a change point. These methods are disclosed in JP-A-6-331332 and can be realized by using the method disclosed in JP-A-6-331332.

Next, in step 53, based on the change point data,
Performs labeling and linearization processing. Here, the labeling is a process of assigning the same number to pixels (change points) that are considered to belong to the same connected component. The linearization process is based on the pixels (change points) assigned the same number by labeling, for example, Hough transform process is used, and the xy orthogonal coordinate system (camera coordinate system) expressed in Hesse's standard form is used. ) 1 is a process of obtaining an angle θ (hereinafter, referred to as a direction angle θ) formed by a distance r of a vector orthogonal to a straight line from the origin (hereinafter, referred to as a distance r from the origin) and the x-axis (FIG. 1).
reference). Regarding labeling and linearization, Japanese Patent Laid-Open No.
Japanese Unexamined Patent Publication No. 6-331332
It can be realized by using the method disclosed in the publication.

Here, a straight line set in each label after the labeling and straightening processing is completed is called a line element. Each line element is the number assigned by labeling, the number of pixels, the coordinates of the start and end points, the distance r from the origin,
And a parameter such as the direction angle θ. Further, in labeling, the determination as to whether they belong to the same connected component is made based on whether the distance between the change point and the line element is shorter than the set distance l1.

Next, in step 54, the line element a corresponding to the plane A of FIG. 2, the line element b corresponding to the plane B of FIG. 2, and the two line elements thereof, the line element a corresponding to the plane A. And the intersection point p of the line element b corresponding to the plane B is detected (see FIG. 1).

FIG. 7 shows a detailed flowchart of the procedure 54. Next, details of the procedure 54 will be described.

First, in step 541, the line element a corresponding to the plane A in FIG. 2 is detected. As the detection method, the number of pixels of the line element a corresponding to the plane A, the starting point, the end point, the distance from the origin, and the range of the direction angle are set in advance, and the line element group of the line element group obtained by the labeling and linearization processing is set. A line element in which all parameters fall within the set range is extracted from the inside, and is detected as a line element a corresponding to the plane A having the largest number of pixels.

Next, in step 542, the plane B set in advance is set.
Based on the number of pixels of the line element b corresponding to, the start point, the end point, the distance from the origin, and the range of the direction angle, a line element in which all parameters fall within the range is defined as a line element corresponding to the plane B. Detected as candidate line element groups b1, b2, .... Although only two line elements b1 and b2 are shown in FIG. 1, there may be more than two.

Next, in step 543, the end point (end point in this case) u of the line element a corresponding to the plane A is detected.

Next, in step 544, the line element a corresponding to the plane A and the line element group b of candidate line elements corresponding to the plane B are included.
, And the respective intersections p1, p2, ...

Next, in step 545, the line element b corresponding to the plane B and the intersection point p of the line element a corresponding to the plane A and the line element b corresponding to the plane B are determined. Two examples of how to determine are described below.

In one method, among the intersections p1, p2, ..., the intersection whose distance is closest to the end point u of the line element a corresponding to the plane A is equivalent to the line element a and the plane B corresponding to the plane A. In this method, a line element corresponding to the plane B passing through the intersection p is defined as a candidate for a line element corresponding to the plane B passing through the intersection p.

According to this method, the line element b1 generated by the primary reflection image and the line element b2 generated by the secondary reflection image
Can be distinguished, and the line element b2 will not be erroneously recognized as the line element b corresponding to the plane B.

Another method is to use the intersection points p1, p2, ... And the plane A.
, And the number of pixels of the line element groups b1, b2, ... Candidate line elements corresponding to the plane B are set, and the evaluation function is set to the minimum. Alternatively, the maximum line element bi and the intersection point pi (i is a natural number)
Is the intersection point p of the line element a corresponding to the plane A and the line element corresponding to the plane B and the line element b corresponding to the plane B, respectively.

As an example, the distance m between each of the intersections p1, p2, ... And the end point u of the line element a corresponding to the plane A is m.
, M2, ... Let n1, which is the number of pixels in each of the line element groups b1, b2, ... Candidate line elements corresponding to the plane B.
In this method, the intersection point p i and the line element bi maximizing the evaluation function fi = −mi + w × ni (w is a weighting coefficient) are set to n 2, ... And the line element b corresponding to the intersection point p and the plane B, respectively.

According to this method, the intersection of the short line element generated by noise or the like and the line element a corresponding to the plane A,
Even if the distance of the end point u of the line element a corresponding to the plane A accidentally becomes small, the number of pixels is taken into consideration. Therefore, a short line element generated by noise or the like is set as the line element b corresponding to the plane B. There is no false recognition.

By the above procedure, the line element a corresponding to the plane A, the line element b corresponding to the plane B, and the two line elements thereof, the line element a corresponding to the plane A and the line element corresponding to the plane B. The intersection p of b is detected, and the procedure 54 ends.

Next, in step 55, the line element c corresponding to the plane C, the line element d corresponding to the plane D, and the two line elements thereof, the line element c corresponding to the plane C and the plane D corresponding. The intersection q of the line element d is detected. The detection procedure is procedure 5
The process is the same as that of 4.

Next, in step 56, the coordinates of the points p and q are
Coordinate conversion from the camera coordinate system 28 of FIG. 1 to the sensor coordinate system 1 of FIG.

Next, in step 57, the groove width W is calculated from the coordinates of the points p and q that have been coordinate-converted to the sensor coordinate system 1.

Here, the slit light 25 and the workpiece 2 are welded.
The procedure has been described by taking the case where the angle φ1 formed by the 1 and 22 is smaller than 90 degrees and larger than 0 degree as an example, but the angle φ1 formed by the slit light 25 and the objects to be welded 21 and 22 is smaller than 180 degrees, Even if it is larger than 90 degrees, the groove width W can be detected without erroneous recognition.

Next, a second embodiment of the present invention will be described with reference to FIGS. 3, 5 and 8 to 10.

FIG. 8 is a perspective view schematically showing the construction of an apparatus to which the present invention is applied, FIG. 9 is a flow chart for explaining the procedure 54 of FIG. 5 in the second embodiment in detail, and FIG.
FIG. 4 is a schematic diagram for explaining the process of the present invention.

The arrangement of the slit light irradiation means 24 and the image pickup means 26 of this embodiment will be described with reference to FIG.

The slit light irradiating means 24 is used for the slit light 2
5 and the objects to be welded 21, 22 are arranged so that the angle φ1 formed between them is smaller than 90 degrees and larger than 0 degrees.
Is arranged such that the angle φ2 formed by the center line of the imaging means 26 and the objects to be welded 21, 22 is smaller than the angle φ1 formed by the slit light 25 and the objects to be welded 21, 22 and larger than 0 degree.

In the arrangement shown in FIG. 8, the secondary reflection image is generated closer to the welding torch than the primary reflection image in FIG. 8, so that the reflection image captured by the image pickup means is shown in FIG. As shown, the secondary reflection images 4B and 4D are the primary reflection images 3
Images are taken inside B and 3D.

By performing the procedure 54 of FIG. 5 by the procedure of the flow chart shown in FIG. 7, the line element a corresponding to the plane A, the line element b corresponding to the plane B, and the two line elements thereof, The intersection p of the line element a corresponding to the plane A and the line element b corresponding to the plane B can be obtained, but as shown in FIG. 3, the secondary reflection images 4B and 4D are the primary reflection images 3B,
It is also possible to obtain it by the procedure shown in the flowchart of FIG. 9 using the fact that the image is captured inside 3D.

The procedure will be described. Here, since the procedure other than the procedure 54 in FIG. 5 is the same as that of the first embodiment, the description thereof is omitted here, and only the procedure 54 will be described in detail with reference to FIGS. 9 and 10.

First, in steps 541 and 542, the line element a corresponding to the plane A is detected and the line element group b1 which is a candidate for the line element corresponding to the plane B is detected in the same manner as the procedure of the flowchart shown in FIG. , B2, ... Are detected (see FIG. 10).

Next, in step 546, the absolute value of the direction angle | θ | (the line element b corresponding to the plane B is selected from the line element groups b1, b2, ... Which are candidates for the line element corresponding to the plane B. Takes a negative value, and the direction angle of the line element d corresponding to the plane D takes a positive value. Therefore, the one having the smallest absolute value) is the line element b corresponding to the plane B. And

Then, in step 547, the intersection point p of the line element a corresponding to the plane A and the line element b corresponding to the plane B is calculated.

From the above, the line element a corresponding to the plane A,
It is possible to detect the line element b corresponding to the plane B, and the intersection point p of the line element a corresponding to the plane A and the line element b corresponding to the plane B.

According to the method of this embodiment, the secondary reflection image is
An image is taken in a fixed direction with respect to the primary reflection image (as shown in FIG. 10, the secondary reflection images 4B and 4D are changed to the primary reflection images 3B and 3D).
Image is captured inside), and thus the secondary reflection image can be easily distinguished from the primary reflection image, and the secondary reflection image is not erroneously recognized as the primary reflection image. Also, the number of steps is smaller than that in the first embodiment.

Further, if the slit irradiation means 24 is arranged as in this embodiment, a space is created between the slit irradiation means 24 and the welding torch 23, and a margin is created in the design of the apparatus (for example, for monitoring). A camera can be placed in that space).

Next, a third embodiment of the present invention will be described with reference to FIGS. 4, 5 and 11 to 13.

FIG. 11 is a perspective view schematically showing the structure of an apparatus to which the present invention is applied, and FIG. 12 is the same as FIG. 5 in the second embodiment.
FIG. 13 is a flow chart for explaining the procedure 54 of FIG. 5 in detail, and FIG. 13 is a schematic view for explaining the processing of the present invention.

The arrangement of the slit light irradiation means 24 and the image pickup means 26 of this embodiment will be described with reference to FIG.

The slit light irradiating means 24 is used for the slit light 2
5 and the objects to be welded 21, 22 are arranged so that the angle φ1 formed between them is smaller than 180 degrees and larger than 90 degrees.
6 is arranged so that the angle φ2 formed by the center line of the imaging means 26 and the objects to be welded 21, 22 is smaller than 90 degrees and larger than 0 degrees.

With the arrangement shown in FIG. 11, the secondary reflection image is generated closer to the welding torch than the primary reflection image in FIG. 11, so the reflection image picked up by the image pickup means is
As shown in FIG. 4, the secondary reflection images 4B and 4D are captured outside the primary reflection images 3B and 3D.

By performing the procedure 54 of FIG. 5 according to the procedure of the flowchart shown in FIG. 7, the line element a corresponding to the plane A, the line element b corresponding to the plane B, and the two line elements thereof, The intersection p of the line element a corresponding to the plane A and the line element b corresponding to the plane B can be obtained, but as shown in FIG. 4, the secondary reflection images 4B and 4D are the primary reflection images 3B,
It is also possible to obtain it by the procedure shown in the flowchart of FIG. 12 by utilizing the fact that the image is captured outside 3D.

The procedure will be described. Here, the procedure other than the procedure 54 of FIG. 5 is the same as that of the first embodiment, and therefore the description thereof is omitted here, and only the procedure 54 will be described with reference to FIGS.
Will be described in detail.

First, in steps 541 and 542, similarly to the procedure of the flowchart shown in FIG. 7, the line element a corresponding to the plane A is detected, and the line element group b1 that is a candidate for the line element corresponding to the plane B is detected. , B2, ... (See FIG. 13).

Next, in step 548, the absolute value of the direction angle | θ | (the line element b corresponding to the plane B is selected from the line element groups b1, b2, ... Which are candidates for the line element corresponding to the plane B. Takes a negative value, and the direction angle of the line element d corresponding to the plane D takes a positive value, and thus has the largest absolute value. The line element b corresponding to the plane B has the largest absolute value. And

Then, in step 549, the intersection point p of the line element a corresponding to the plane A and the line element b corresponding to the plane B is calculated.

From the above, the line element a corresponding to the plane A,
It is possible to detect the line element b corresponding to the plane B, and the intersection point p of the line element a corresponding to the plane A and the line element b corresponding to the plane B.

According to the method of the third embodiment, the secondary reflection image is picked up in a fixed direction with respect to the primary reflection image (FIG. 1).
0, the secondary reflection images 4B, 4D are the primary reflection images 3B,
Since it is imaged outside 3D), it can be easily distinguished from the primary reflection image, and the secondary reflection image will not be erroneously recognized as the primary reflection image. Also, the number of steps is smaller than that in the first embodiment.

Further, by arranging the slit irradiation means 24 as in this embodiment, the angle formed by the center line of the imaging means 26 and the objects to be welded 21 and 22 can be brought close to 90 degrees. In that case, The influence of arc light can be reduced.

[0072]

According to the present invention, the position and shape of the groove can be accurately measured without erroneously detecting the secondary reflected image.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a processing procedure according to a first embodiment of this invention.

FIG. 2 is a perspective view of an apparatus to which the first embodiment of the present invention is applied.

FIG. 3 is an explanatory view of a light section image of a groove taken by the image pickup means of FIG.

FIG. 4 is an explanatory view of a light section image of a groove taken by the image pickup means of FIG.

FIG. 5 is a flowchart for explaining a procedure for measuring a groove position and a shape.

6 is an explanatory diagram showing change point data obtained by processing the area 2 in FIG. 3 by an operation 52 in FIG.

FIG. 7 is a flowchart of the procedure of FIG. 5 according to the first embodiment of the present invention.

FIG. 8 is a perspective view of an apparatus to which a second embodiment of the present invention is applied.

FIG. 9 is a flowchart of the procedure of FIG. 5 according to the second embodiment of the present invention.

FIG. 10 is an explanatory diagram of a processing procedure according to the second embodiment of this invention.

FIG. 11 is a perspective view of an apparatus to which a third embodiment of the present invention is applied.

FIG. 12 is a flowchart of the procedure of FIG. 5 according to the third embodiment of the present invention.

FIG. 13 is an explanatory diagram of a processing procedure according to the third embodiment of this invention.

[Explanation of symbols]

1 ... Camera coordinate system, 21, 22 ... Welding object, 23 ... Welding torch, 24 ... Slit irradiation means, 25 ... Slit light,
26 ... Imaging means, 27 ... Image processing means, 28 ... Sensor coordinate system.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuaki Haneda, 502 Jinritsucho, Tsuchiura-shi, Ibaraki Hiritsu Seisakusho Co., Ltd. (72) Inventor Akiji Imanaga 502, Jinritsucho, Tsuchiura-shi, Ibaraki Nissha Co., Ltd. Machinery Research Laboratory, Tate Works (72) Masahiro Kobayashi 3-1-1, Sachimachi, Hitachi, Ibaraki Prefecture Hitachi Co., Ltd. Hitachi Factory, Hitachi (72) Inventor, Takeo Uehara 3-1-1, Sachimachi, Hitachi, Ibaraki No. Hitachi Ltd., Hitachi Plant (72) Inventor Eiji Hino 3-1-1, Saiwaicho, Hitachi City, Ibaraki Prefecture Hitachi Ltd., Hitachi Plant

Claims (6)

[Claims] 1. An angle between an outer surface portion and the outer surface portion is 9
The slit light irradiating means irradiates the groove with slit light so that the slit light irradiates the groove with the position and shape of the groove in which two objects to be welded having a slope portion larger than 0 degree and smaller than 180 degrees are abutted. In the method of measuring the groove position and shape, in which the reflected reflection image is imaged by the image pickup means, and the reflected image of the slit light imaged by the image pickup means is image-processed by the image processing means, the outer surface of the workpiece. A first step of detecting a line element corresponding to a portion, a second step of detecting an end point of the line element corresponding to the outer surface of the workpiece on the slope side, and a slope of the groove A third step of detecting a line element group of candidate line elements, and a line element group of candidate line elements corresponding to the slope of the groove and a line element corresponding to the outer surface of the workpiece. Fourth to calculate each intersection Step and, when there are a plurality of line element candidates corresponding to the slope portion of the groove, at least from the end point on the slope side of the groove of the line element corresponding to the outer surface portion of the workpiece, Considering the distance to the intersection of a line element candidate of a line element corresponding to the slope and the line element corresponding to the outer surface of the workpiece, one line element corresponding to the slope of the groove is considered. A groove position and shape measuring method, which comprises a fifth step for determining. 2. In the fifth step, when there are a plurality of line element candidates corresponding to the slope portion of the groove, the slope portion side of the groove of the line element corresponding to the outer surface portion of the workpiece is welded. From the end point to the intersection of the line element corresponding to the outer surface of the work piece and the candidate line element of the line element corresponding to the slope of the groove, at least the slope of the groove The method for measuring a groove position and shape according to claim 1, which is a step of determining one line element corresponding to the slope portion of the groove in consideration of the number of pixels of the line element candidate corresponding to. 3. The angle formed by the outer surface portion and the outer surface portion is 9
The slit light irradiating means irradiates the groove with slit light so that the slit light irradiates the groove with the position and shape of the groove where two objects to be welded having a slope portion larger than 0 degree and smaller than 180 degrees are abutted. In the measuring device for measuring the groove position and shape, the reflected image reflected by the image pickup means is imaged by the image pickup means, and the reflected image of the slit light picked up by the image pickup means is image-processed by the image processing means. A first means for detecting a line element corresponding to the outer surface portion of the object to be welded, and a second means for detecting an end point on the sloped side of the line element corresponding to the outer surface portion of the object to be welded. A third means for detecting a line element group of candidate line elements corresponding to the slope portion of the groove, a line element group of candidate line elements corresponding to the slope portion of the groove, and the outer surface of the workpiece. The intersection with the line element corresponding to the If a fourth means for calculation, the candidate of a line element corresponding to the inclined surface portion of the groove is plural,
At least, from the end point on the slope side of the groove of the line element corresponding to the outer surface of the workpiece, the candidate line element of the line element corresponding to the slope of the groove and the outer surface of the workpiece. A groove position having a fifth means for determining one line element corresponding to the slope of the groove in consideration of the distance to the intersection with the line element corresponding to, Shape measuring device. 4. When the fifth means has a plurality of line element candidates corresponding to the slope portion of the groove, the slope portion side of the groove of the line element corresponding to the outer surface portion of the object to be welded. From the end point to the intersection of the line element corresponding to the outer surface of the work piece and the candidate line element of the line element corresponding to the slope of the groove, at least the slope of the groove The groove position / shape measuring device according to claim 3, which is a means for determining one line element corresponding to the slope portion of the groove in consideration of the number of pixels of the line element candidate corresponding to. 5. The angle formed by the outer surface portion and the outer surface portion is 9
The slit light irradiating means irradiates the groove with slit light so that the slit light irradiates the groove with the position and shape of the groove where two objects to be welded having a slope portion larger than 0 degree and smaller than 180 degrees are abutted. In the measuring device for measuring the groove position and the shape, the slit light irradiation is performed by capturing the reflected image reflected by the image capturing means with the image capturing means, and image-processing the reflected image of the slit light captured by the image capturing means with the image processing means. The means is arranged such that the angle formed by the slit light irradiating means and the object to be welded is larger than 0 degree and smaller than 90 degrees, and the imaging means makes the angle formed by the imaging means and the object to be welded 0. The angle is larger than the angle and is smaller than the angle formed by the slit light irradiating means and the object to be welded, and the image processing means displays a reflection image of the slit light obtained by the imaging means. When there are a plurality of line element candidates corresponding to the slope portion of the groove obtained by image processing, in the line element group of candidate line elements corresponding to the slope portion of the groove, the standard form of Hesse The linear element having the smallest absolute value | θ | of the angle θ formed by the vector orthogonal to the straight line extending the linear element from the origin of the xy orthogonal coordinate system and represented by A groove position / shape measuring device having a means for detecting it as a line element. 6. The angle formed by the outer surface portion and the outer surface portion is 9
The slit light irradiating means irradiates the groove with slit light so that the slit light irradiates the groove with the position and shape of the groove in which two objects to be welded having a slope portion larger than 0 degree and smaller than 180 degrees are abutted. In the measuring device of the groove position and shape for measuring by measuring the reflected image of the reflected light reflected by the image pickup means and the reflected image of the slit light picked up by the image pickup means by the image processing means, the slit light irradiation means Is arranged such that the angle formed by the slit light irradiating means and the object to be welded is larger than 90 degrees and smaller than 180 degrees, and the imaging means forms an angle of 0 degree between the imaging means and the object to be welded. It is arranged so as to be larger and smaller than 90 degrees, and the slope of the groove obtained by the image processing means image-processing the reflection image of the slit light obtained by the image pickup means. When there are a plurality of line element candidates corresponding to, from the origin of the xy orthogonal coordinate system represented by the Hesse standard form in the line element group of the line element candidates corresponding to the slope of the groove. There is provided means for detecting a line element having the largest absolute value | θ | of the angle θ formed by the vector orthogonal to the straight line extending the line element and the x-axis as the line element corresponding to the slope of the groove. A groove position and shape measuring device characterized in that