KR101264935B1 - welding position detecting method by camera images - Google Patents

Abstract

The present invention relates to a method for detecting the position of a welding line of a welding member using an image image. The purpose of the present invention is to provide a welding member having an irregular alignment state and information about the welding member before driving the automatic welding robot for the welding member having many welding sites. To provide a method for detecting the position of the welding line to reduce the waste of time and manpower to obtain a.

The present invention is a method for detecting the position information on the welding line in advance, before the welding operation using the gantry mobile welding robot,

By using a camera provided in the gantry robot, one image image for the surface plate is generated from a plurality of image images linked to the driving driving of the robot and output through the display unit, and the image is processed through the image processing process from the displayed image. The technical gist of the method is to detect a position of a welding line using an image image which acquires coordinate information about a start point and an end point of a line.

Gantry, welding robot, image processing, interface

Description

Welding position detection method by welding images using welding image

1 is an exemplary view showing an embodiment of a welding member to which the present invention is applied

Figure 2 is an illustration of an automatic welding device for implementing the welding line position detection according to the invention

3 is an exemplary view showing a processing control unit connected to a camera according to the present invention.

Figure 4 is a first embodiment showing the position information detection step of the welding line according to the present invention

5A and 5B are exemplary views showing a displayed image image

5C is a schematic view showing a correction step of an image image according to the present invention

5d is an exemplary view showing coordinate information of the extracted welding line according to the present invention.

Figure 6 is a second embodiment showing the position information detection step of the welding line according to the present invention

<Description of the symbols for the main parts of the drawings>

(1): surface plate

(5): welding member

(6): welding line

(6a): time point

(6b): endpoint

(10): Gantry Robot

(20): Welding Robot

(30): processing control unit

31: display unit

110, 111, 112, 113: camera

(A): Element image image

The present invention relates to a method for detecting the position of a welding line of a welding member using an image image, and more particularly, to efficiently teach continuous operation of a welding member by teaching the starting point and the end point of the welding line during the welding operation of the welding robot. The present invention relates to a welding line position detection method for performing a position detection of a welding line in advance efficiently in a short time.

In general, the ship's construction work is carried out in the small assembly of the hull manufactured in the processing plant is transferred to the assembly site to attach the reinforcement to the internal structure of the hull, the heavy tank to attach the ribs of the shell plating to the small assembled member The rip process is performed, and then the contrast process is completed to complete the block.

The present invention relates to the above-described small assembly process, as shown in Figure 1, as the welding member (5), in the linear welding line 6 to both edges of the panel 51 and the reinforcing material 52 in contact with It is related to the welding work, and the welding in such a small assembly process is a common automatic welding work using a welding robot.

In addition, the welding robot which performs automatic welding along the straight welding line recognizes the welding start point and the end point information before welding driving, and based on the positional information on the previously recognized welding line 6. Automatic welding related driving program is generated through the whole welding robot controller.

Through the pre-recognized position information of the welding line, the welding robot is driven close to the welding line by fast driving before the actual execution. Subsequently, the actual welding work and the simultaneous welding robot are performed through the touch sensor function provided at the end. The welding line 6 will be tracked to perform a more accurate actual welding work.

As a conventional method for acquiring the start point and end point information of the welding line, for example, in the related art, a welding line teaching operation is performed by directly driving a welding robot having an end detection function and moving along a straight weld. Or, the worker directly enters the surface plate and uses a measuring tape measure to input all welding line information directly into the welding robot controller.

As such, it is necessary to take considerable time and manpower in order to obtain the timing and end point information of the welding line through a worker using a welding robot or a measuring instrument having an end detection function. In the case of members, the stiffeners mounted on the panel become irregularly aligned or diversified in shape, which further increases the task of obtaining information about these welding lines.

The present invention is to solve the conventional problems as described above, the purpose of the welding member to form an irregular alignment, such as the reinforcement mounted on the panel in the small assembly step of the vessel described above, welding with a large number of welding lines The present invention provides a welding line position detection method for reducing waste of time and manpower for acquiring position information on a welding line of a welding member before welding by an automatic welding robot for the member.

The present invention for achieving the object as described above and to eliminate the drawbacks of the prior art implements three-axis drive in the driving direction, vertical direction, transverse direction, the output end of which moves along the rail installed on the floor and drives in the table below In the method for detecting in advance the position information of a plurality of welding lines of the welding member mounted on the surface plate before the welding operation using the gantry robot as an area and the welding robot installed at the output end of the gantry robot,

Generating an element image image by photographing the inside of the surface plate along a driving direction through a plurality of cameras installed in the gantry robot (S100);

Collecting the plurality of captured element image images (S200);

Generating one image image of the surface plate through the collected element image image and outputting the image image through a display unit (S300) (S400);

Recognizing the starting point and the end point of the welding line of the welding member appearing from the displayed image image through an interface (S500);

Extracting coordinate information in the surface plate from the information on the starting point and the end point of the welding line recognized through the interface (S600); And

And generating a driving program of the welding robot by using the extracted coordinate information of the welding lines, previously collected robot driving related information, and welding condition related information (S700).

Alternatively, a three-axis drive in a driving direction, a vertical direction, and a transverse direction, the output end of which moves along a rail mounted on the floor, using a gantry robot with a driving area in the lower surface plate, and a welding robot installed at the gantry robot output end In the method for detecting the position information of the plurality of welding lines in advance in the surface plate of the welding member, before the welding operation,

Visually highlighting the viewpoint and the end point of the welding line of the welding member placed on the surface plate from the surrounding (S100 ″);

Generating an element image image by photographing the inside of the surface plate along a driving direction through a plurality of cameras installed in the gantry robot (S200 ″);

Collecting the plurality of captured element image images (S300 ″);

Generating one image image of the surface plate through the collected element image image and outputting the image image through a display unit (S400 ″ and S500 ″);

Extracting coordinate information through an image processing process for a start point and an end point of a welding line which is displayed in advance in the displayed image image (S600 ″); and

And generating a driving program of the welding robot by using the extracted coordinate information of the welding lines, previously collected robot driving related information, and welding condition related information (S700 ″).

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is an exemplary view of an automatic welding device for implementing a method for detecting a position of a welding line using an image image according to the present invention. Referring to FIG. 5) as a welding operation for the reinforcement 52 mounted on the panel 51 used in the small assembly process during ship construction, this welding operation is generally run along the rail (11) installed on the floor Driving direction (Y), the output end of the gantry robot 10 to implement the three-axis drive in the vertical direction (Z) and transverse direction (X) from the floor, and is installed at the output end of the gantry robot 10 joint drive It implements, and consists of a welding robot 20 having a cutting tool at its output end.

The gantry-type mobile welding robot having such a configuration moves within the surface plate 1 on which the welding member 5 is placed, and the welding line 6 of the welding member 5 is formed in accordance with a driving program input to the welding robot controller. Therefore, automatic welding work is continuously performed.

At the time of generating the driving program of the gantry mobile welding robot, the robot drive between the short-circuited welding lines by recognizing the positional information of the large number of welding lines 6 mounted on the surface plate 1 before the actual welding operation. And in conjunction with the welding conditions related information to be able to perform a quick welding as a whole.

As shown in FIG. 2 to detect the position information of the welding line 6 according to the present invention, the upper structure of the gantry robot 10 is an image photographing camera 111, 112 installed along the transverse direction (X) 113 is installed. That is, the installed cameras 111, 112, 113 are interlocked with the gantry robot 10 along the driving direction Y of the gantry-type mobile welding robot, and photograph the lower surface plate 1, and the surface plate 1. One or more may be installed depending on the size of the transverse direction (X).

As shown in FIG. 3, the image image photographed by the camera 110 is collected through the processing controller 30 to undergo an image processing operation according to the present invention. Hereinafter, a detailed method for detecting location information according to the present invention made through the process control unit 30 will be described.

Figure 4 is a flow chart showing the position information detection step of the welding line according to the first embodiment of the present invention, when described with reference to Figure 2, before the welding operation using the gantry mobile welding robot of the configuration as described above In the method of detecting the positional information about the welding line 6 mounted in (1) in advance,

Driving the gantry robot 10 along the driving direction (Y) and performing continuous shooting along the driving direction (Y), and generating respective element image images (S100);

Collecting each element image image through the processing controller 30 (S200);

Generating one full image image of the surface plate through the collected element image image (S300) and outputting it through the display unit (31) (S400);

Marking (S500) and marking the viewpoint (6a) and the end point (6b) of the welding line (6) of the welding member appearing from the displayed image image through the interface (S500);

Extracting coordinate information in the surface plate from information on the starting point 6a and the end point 6b of the welding line 6 recognized through the interface (S600);

Generating a driving program of the welding robot using the extracted coordinate information of the welding lines and previously collected robot driving related information / welding condition related information (S60);

The generated driving program is transmitted to the welding robot controller (S800), and performs a substantial welding operation on the welding member (S900). In addition, the welding robot's work program can be downloaded to the welding robot controller through serial communication or Ethernet. Through this, in the field, the welding robot work program is databased according to the type of welded object (coordinate according to the present invention). Information + robot drive information + welding condition information) to perform automatic welding for the selected welding member.

5A to 5D show a form of extracting coordinate information by generating one full image image of a surface plate through the collected element image image and outputting it through a display unit, that is, as illustrated in FIGS. 5A and 5B. As described above, in this embodiment, by using three cameras side by side in the lateral direction (X), in conjunction with the gantry robot 10 traveling, the entire surface plate (1) through the five consecutive shooting about the driving direction (Y) It implements one image image for.

In order to generate one whole image image by combining each element image image A, a step of correcting overlapping image images of adjacent element images (S250: FIG. 4) is usually performed. As shown in 5c, the image processing is performed to remove the image images of the regions c overlapping the image capturing regions W1 and W2 of the element image image. For example, it is possible to formally calculate the size from the overlapping region (c) = 2 * (H * tan (a) -D * tan (a)), and according to the combined image generation in which the overlapping region is removed. The actual imaging area is output as W1 + (W2-c). At this time, the distance (b) between the adjacent cameras, the installation height (H) of the camera, and the angle of view (a) of the camera is a constant value, from which the distance (D) value to the point where the overlap occurs can be obtained. will be.

Detailed description of the publicly known image correction operation of such an image image is omitted.

Subsequently, a marking 6a and an end point 6b of the welding line 6 of the welding member appearing from the displayed image image are recognized through an interface (S500). Using the mouse or the screen touch pen, the operator displays the starting point 6a and the end point 6b of the welding line 6 identified from the image by using a mouse or a screen touch pen. Will be recognized.

Subsequently, after completing the recognition of the starting point 6a and the end point 6b of the welding line 6, as shown in FIG. 5D, the starting point 6a and the end point 6b of the welding line 6 are shown. ), And extracts the coordinate information in the table 1 to build a database.

On the other hand, Figure 6 shows the flow of the position information detection step of the welding line according to the second embodiment according to the present invention, and will be described in connection with Figure 2, the welding operation using the gantry mobile welding robot of the above configuration In the method for detecting in advance the positional information on the welding line 6 placed in the surface plate 1,

First, the operator visually highlights the visual point 6a and the end point 6b of the welding line 6 of the welding member 5 directly placed on the surface plate 1 from the surroundings (S100 ″);

Driving the gantry robot 10 along the driving direction Y and performing continuous shooting along the driving direction Y simultaneously and generating respective element image images (S200 ″);

Collecting each element image image through the processing controller 30 (S300 ″);

Generating one full image image of the surface plate 1 through the collected element image image (S400 ") and outputting it through a display unit (S500");

Extracting coordinate information through an image processing process for the start point 6a and the end point 6b of the welding line 6, which are displayed in advance in the displayed image image (S600 ");

Generating a driving program of the welding robot by using the extracted coordinate information of the welding lines 6 and pre-collected robot driving related information / welding condition related information (S60 ″);

The generated driving program is transferred to the welding robot controller (S800 ″) to perform a substantial welding operation on the welding member (S900 ″).

In the position detecting method according to the second embodiment of the above-described configuration, instead of recognizing the viewpoint 6a and the end point 6b of the welding line 6 through the interface from the image image displayed in the first embodiment described above. Before the image is generated using the camera 110 according to the present invention, the operator visually contrasts the surroundings with respect to the position of the start point 6a and the end point 6b of the welding line 6 of the welding member which is directly positioned in the surface plate. The identification and marking work steps such as marking or target are performed in advance.

This is a subsequent step, that is, through the simultaneous image processing (image processing) process to output through the display unit, it is to be able to automatically extract the coordinate information about the start point and the end point of the welding line.

Hereinafter, a description overlapping with the first embodiment according to the present invention will be omitted.

In addition, referring to Figure 1, the welding member 5 used in the small assembly of the vessel introduced as an embodiment of the present invention is due to this material shape due to the reinforcing material 52 is mounted to the panel 51 which is a flat plate member The welding line 6 according to the present invention has a straight line shape on the plane, and as described above, the coordinate information on the starting point 6a and the end point 6b of the welding line 6 is lateral and running of the gantry robot 10. Although it is generated in the plane coordinates (X, Y) by the direction, it is possible to acquire the position of the spatial coordinates (X, Y, Z) with respect to the starting point and the end point of the welding line including the vertical direction (Z). In this case, a plurality of cameras for photographing the front, rear, left, and right sides of the welding member 5 will be further needed.

It is not limited to these specific embodiments, any one of ordinary skill in the art without departing from the gist of the invention claimed in the claims that various modifications can be made, of course, and Such changes are intended to fall within the scope of the claims.

As described above, the present invention enables the acquisition of the position information of the welding line which is performed before the welding operation through the automatic welding robot for the welding member having the irregular and large number of welding lines in a faster time, so that the overall automatic welding is possible. Improve the efficiency of the work.

Through the minimum manpower required for welding line location information, there is an effect of reducing the environment improvement and waste of manpower.

Furthermore, the processing speed of the welding line-related information is fast, so that the operation of generating the driving program for the final welding work generated by combining with the database-related welding robot and welding device-related information can be processed more quickly.

Claims (4)

Welding operation using a gantry robot, which implements three-axis driving in the driving direction, the vertical direction, and the lateral direction, the output end of which moves along the rail mounted on the floor, and the inside of the lower plate as the driving area, and the welding robot installed at the output end of the gantry robot. In the above, in the method for detecting in advance the position information for a plurality of welding lines that the welding member is placed in the surface plate, Generating an element image image by photographing the inside of the surface plate along a driving direction through a plurality of cameras installed in the gantry robot (S100); Collecting the plurality of captured element image images (S200); Generating one image image of the surface plate through the collected element image image and outputting the image image through a display unit (S300) (S400); Recognizing the starting point and the end point of the welding line of the welding member appearing from the displayed image image through an interface (S500); Extracting coordinate information in the surface plate from the information on the starting point and the end point of the welding line recognized through the interface (S600); And Generating a driving program of the welding robot by using the extracted coordinate information of the welding lines, previously collected robot driving related information, and welding condition related information (S700); Welding line position detection method of a welding member using an image image, characterized in that consisting of. Welding operation using a gantry robot, which implements three-axis driving in the driving direction, the vertical direction, and the lateral direction, the output end of which moves along the rail mounted on the floor, and the inside of the lower plate as the driving area, and the welding robot installed at the output end of the gantry robot. In the above, in the method for detecting in advance the position information for a plurality of welding lines that the welding member is placed in the surface plate, Visually highlighting the viewpoint and the end point of the welding line of the welding member placed on the surface plate from the surrounding (S100 ″); Generating an element image image by photographing the inside of the surface plate along a driving direction through a plurality of cameras installed in the gantry robot (S200 ″); Collecting the plurality of captured element image images (S300 ″); Generating one image image of the surface plate through the collected element image image and outputting the image image through a display unit (S400 ″ and S500 ″); Extracting coordinate information through an image processing process for a start point and an end point of a welding line which is displayed in advance in the displayed image image (S600 ″); and Generating a driving program of the welding robot by using the extracted coordinate information of the welding lines, previously collected robot driving related information, and welding condition related information (S700 "); Welding line position detection method of a welding member using an image image, characterized in that consisting of. The method according to claim 1 or 2, The coordinate information of the welding line of the welding member mounted in the surface plate is generated in the plane coordinates (X, Y) of the lateral direction (X) and the running direction (Y) of the gantry robot Welding line position detection method of the welding member using the. The method according to claim 1 or 2, An image image comprising a correction step (S250) (S350 ") of removing overlapping images of adjacent element images of the collected element image images when the one image image is generated and output through the display unit. Welding line position detection method of welding member using

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