WO2020042030A1 - Procédé et système de détection d'écart destinés à un système visuel de soudage - Google Patents

Procédé et système de détection d'écart destinés à un système visuel de soudage Download PDF

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Publication number
WO2020042030A1
WO2020042030A1 PCT/CN2018/103075 CN2018103075W WO2020042030A1 WO 2020042030 A1 WO2020042030 A1 WO 2020042030A1 CN 2018103075 W CN2018103075 W CN 2018103075W WO 2020042030 A1 WO2020042030 A1 WO 2020042030A1
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Prior art keywords
metal parts
gap
laser pattern
cross
image
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Ceased
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PCT/CN2018/103075
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English (en)
Chinese (zh)
Inventor
阳光
王磊
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Priority to CN201880087344.7A priority Critical patent/CN111918742B/zh
Priority to PCT/CN2018/103075 priority patent/WO2020042030A1/fr
Publication of WO2020042030A1 publication Critical patent/WO2020042030A1/fr
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques

Definitions

  • the present application relates to the field of gap detection, and in particular, to a gap detection method and system for a vision welding system.
  • the present application provides a gap detection method and system for a vision welding system, so as to solve the problem that gap detection is difficult or costly today.
  • a technical solution adopted in the present application is to provide a gap detection method of a visual welding system, including the steps of: determining a layout relationship of two metal parts in a region to be welded by visual inspection; when the two metal parts are spatially different surfaces During the setting, a cross-shaped laser pattern is projected on the two metal parts; the gap information between the two metal parts is determined by the structured light detection method according to the cross-shaped laser pattern.
  • a visual welding system including a visual inspection system for determining an arrangement relationship between two metal parts of a region to be welded by a visual inspection method; a laser projection device For projecting a cross-shaped laser pattern on two metal parts whose arrangement is determined to be different in space; the visual inspection system further determines the two metal parts in a structured light detection mode based on the cross-shaped laser pattern. Gap information.
  • a computer storage medium storing a program file capable of implementing any of the above methods.
  • a gap detection method and system for a visual welding system which determines the arrangement relationship of two metal parts in a region to be welded by visual inspection, and when it is determined that the two metal parts are arranged on different surfaces in space, A cross-shaped laser pattern is projected on the two metal parts, and the gap information between the two metal parts is determined by the structured light detection method according to the cross-shaped laser pattern, so that the gap detection of the two metal parts in the welding area can be realized.
  • FIG. 1 is a schematic flowchart of a first embodiment of a method for detecting a gap in a visual welding system of the present application
  • FIG. 2 is a schematic flowchart of a second embodiment of a method for detecting a gap in a visual welding system of the present application
  • FIG. 3 is a schematic flowchart of a third embodiment of a method for detecting a gap in a visual welding system of the present application
  • FIG. 4 is a schematic flowchart of a fourth embodiment of a method for detecting a gap in a visual welding system of the present application
  • FIG. 5 is a schematic diagram of a specific embodiment of the embodiments of FIG. 3 and FIG. 4;
  • FIG. 6 is a schematic diagram of a simple principle of coordinate calculation in the specific embodiment shown in FIG. 5;
  • FIG. 7 is a schematic diagram of another simple principle of coordinate calculation in the specific embodiment shown in FIG. 5;
  • FIG. 8 is a schematic structural diagram of an embodiment of a visual welding system of the present application.
  • FIG. 9 is a schematic structural diagram of an embodiment of a computer storage medium of the present application.
  • FIG. 1 is a schematic flowchart of a first embodiment of a gap detection method of a visual welding system of the present application.
  • a specific gap detection method includes the following steps:
  • the two metal parts in the welding area must be inspected first, and specifically, the two metals are imaged by visual inspection. Acquisition, image recognition and processing.
  • the two metal components are arranged in a spatially different plane and a spatially coplanar state.
  • FIG. 2 is a schematic flowchart of a second embodiment of a gap detection method of the visual welding system of the present application, and is a sub-example of step S11, which specifically includes the following steps:
  • S111 Perform image acquisition on the area to be welded to obtain a visual inspection image.
  • an automated method is used to detect the welding area.
  • image acquisition is required, and the entire welding area is mainly acquired by a machine to obtain a visual inspection image of two metal parts in the welding area.
  • S112 Perform image recognition on the visual inspection image to identify two metal parts from the visual inspection image.
  • This application mainly completes the gap detection by projecting a laser pattern onto the surface of a metal part. It is necessary to determine the position information of two metal parts, including specific coordinates, position arrangement, etc., so that the visual inspection image containing the metal part needs to be identified. To identify metal parts.
  • image collection is performed on the area to be welded, and two metal parts in the collected visual inspection image are identified, and then the arrangement relationship between the two metal parts is determined, thereby completing the vision of the two metals in the welding area. Detection and identification, and determine the detection method to be used next through the arrangement.
  • a structured light detection method is adopted.
  • a cross laser-shaped pattern is projected on the two metal parts, and then image acquisition, recognition, and The process determines gap information between two metal parts, where the gap information includes whether a gap exists and the size information of the gap.
  • FIG. 3 is a schematic flowchart of a third embodiment of a gap detection method of a visual welding system of the present application.
  • a corresponding laser pattern is formed on the surfaces of two metal parts, and then projected onto the metal parts. Spatial position information of the laser pattern on the laser pattern to obtain the position of the metal part corresponding to the laser pattern, and finally determine the gap information between the two metals. It includes the following steps:
  • a cross-shaped laser pattern needs to be projected on two metal parts, including a first bar-shaped laser pattern and a second bar-shaped laser pattern, wherein the first bar-shaped laser pattern acts on two different spatial surfaces.
  • a stripe laser pattern is formed on the surface of one of the metal parts provided, and a second stripe laser pattern acts on the surface of the other one of the two metal parts to form a stripe laser pattern.
  • S132 Perform image acquisition on two metal parts on which a cross-shaped laser pattern is projected to obtain a gap detection image.
  • S133 Perform image recognition on the gap detection image to identify a cross-shaped laser pattern from the gap detection image.
  • the cross-shaped laser pattern acts on the surfaces of two metal parts and forms corresponding laser patterns
  • the spatial position information of the cross-shaped laser pattern is actually the space corresponding to the metal part where the cross-shaped laser pattern is located.
  • the laser pattern in the gap detection image needs to be identified first.
  • S134 Determine gap information between two metal parts according to position information of the cross-shaped laser pattern in the gap detection image.
  • the position information of the cross-shaped laser pattern is obtained through calculation, and then the position information of the corresponding metal part is obtained, and then the gap between the two metal parts is determined through comparison calculation. information.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of the gap detection method of the visual welding system of the present application, and FIG. 4 is a sub-example of step S314 of FIG. 3.
  • S1341. Determine the spatial coordinates of at least two reference points on the surfaces of the two metal parts according to the position information of the cross-shaped laser pattern in the gap detection image.
  • the position of the laser pattern acting on the metal part is equivalent to the position information of the metal part where it is located, that is, as long as the spatial position information of the straight line where the cross-shaped laser pattern is located is calculated, that is, the space of the metal part Position information, specifically, at least two points of information are needed to calculate a straight line. Specifically, according to position information of the laser pattern in the gap detection image, spatial coordinates of at least two points in the laser pattern are obtained.
  • FIG. 5 is a schematic diagram of a specific embodiment of the embodiments of FIG. 3 and FIG. 4.
  • two metal parts are detected by projecting a cross laser.
  • the welding area includes two metal parts, M and N.
  • the first stripe laser pattern acts on the surface of the metal part M, thereby forming a stripe laser pattern m.
  • the second stripe laser pattern acts on the metal part N, thereby forming a stripe laser pattern n.
  • two points are respectively taken from the stripe laser pattern m and the stripe laser pattern n.
  • the horizontal and vertical axis coordinates of the taken point can be determined through the image.
  • the offset angle and distance information of the image are used to determine the vertical axis coordinates of the points taken, so that the spatial coordinates of the points taken can be obtained.
  • the stripe laser pattern m takes points A and B, and the coordinates are A (x1, y1, z1), B (x2, y2, z2), the corresponding straight line is L1;
  • strip laser pattern n takes points C and D, and its coordinates are C (X1, Y1, Z1), D (X2, Y2, Z2) ,
  • the corresponding straight line is L2, that is, the metal component M corresponds to the straight line L1, and the metal component N corresponds to the straight line L2.
  • the above-mentioned three-dimensional coordinate detection of a point by a 2D camera can be specifically performed by the following methods:
  • the laser light from the light source 21 forms a laser pattern on the surface of the metal M.
  • the intersection point of the plane where the image sensor 11 and the metal M is located is Q point, so m, the image sensor 11, and the Q point together Form a right triangle, one of which is ⁇ 1.
  • the offset angle of the image sensor 11 when collecting m points It is known, and its L1 is the offset distance from m point to Q point. The distance between the two points is calculated. Therefore, in a right-angled triangle, the angle value of a right-angle side and a non-right-angle angle are known.
  • the distance value of the other side that is, the distance from the image sensor 21 to the Q point, Establish the coordinate axis, you can get its horizontal, vertical and vertical coordinates.
  • the falling point is n
  • the intersection point is P
  • the offset angle is ⁇ 2
  • the offset distance is L2. The distance from the image sensor 21 to the point P can also be obtained.
  • the laser pattern may be projected vertically on the metal part, and a point P is taken on the metal part.
  • the light source, the camera, and the point P form a right-angled triangle, and the same method is used for calculation.
  • the offset is the relative distance between the light source and the camera.
  • a method of constructing multiple planes and coordinate systems may be used for acquisition.
  • the light source 21 projects a cross laser pattern on the metal part M
  • the light source 21 and the two rays form lateral light, respectively.
  • the plane ⁇ h and the longitudinal light plane ⁇ v, where ⁇ c is the image plane, and the coordinate system for constructing the image sensor 11 is O c x c y c z c , where O p is the intersection of the optical axis collected by the image sensor 11 and the image plane ⁇ c
  • the undistorted image coordinate system is O u x u y u .
  • the three-dimensional world coordinate system is O w x w y w z w , where it is defined that O c x c is parallel to O u x u and O c z c is perpendicular to ⁇ c.
  • the model of the entire image sensor 21 can be expressed as:
  • ⁇ is not 0, (fx, fy) is an effective focal length of the image sensor 11 in the x, y directions, and (u0, v0) is a principal point coordinate of the image sensor 11.
  • ri 1 .... 9) is an element of the orthogonal rotation matrix R, and tx, ty, tz are elements of the translation vector T.
  • the space point P has a unique projection point p on the image plane ⁇ c, that is, the point p corresponds to the unique ray O c p in space, and P is located on O c p.
  • equations of rays O c p can be determined by equations (1), and equations of light planes ⁇ h and ⁇ v are determined by equations (2) and (3), respectively.
  • the intersection point can be shifted to determine the point P in O c x c y c Z c three-dimensional coordinates.
  • All the above methods can use a 2D camera to obtain a three-dimensional coordinate information about the projection point. In a specific embodiment, it is not limited to the above manner.
  • S1342 Determine a spatial straight line equation corresponding to each metal component according to the spatial coordinates of at least two reference points on each metal component.
  • the spatial position of L1 corresponds to the metal part M
  • the spatial position of L2 corresponds to the metal part N. That is, the above two equations are the spatial position information equations of the two metal parts, respectively.
  • the length of the common vertical line segment between two straight lines you can select any point Q on L1 and make a straight line L3 parallel to L2 through the point Q. At this time, L1 and L3 form a plane O, Then take any point W on L2. At this time, only the distance from the point W to the plane O is required. This is the length of the common vertical line segment between L1 and L2.
  • the above is only a kind of straight line distance in different planes.
  • the method may be any other method for determining the distance between two straight lines in other embodiments, without any limitation.
  • the male perpendicular line segment is used to determine the gap information between two metal parts according to the difference information. If the length of the common vertical line segment is greater than the threshold length, that is, the difference is greater than 0, it represents the distance between the two metal parts.
  • the specific value of the difference is the size of the gap between the two metal parts; if the length of the common vertical line segment is different from a preset length threshold If it is equal to 0, it is determined that there is no gap between the two metal parts.
  • the method of the plane linear equation can also be adopted.
  • the metal part M is located at a low beam, so when a horizontal light is projected, the metal part M and the metal part are simultaneously Project on N to find the straight line equation of horizontal light projected on metal part M and the straight line equation on metal part N to determine whether they overlap. If they overlap, there is no gap, if they do not overlap, it means there is a certain gap.
  • the calculation of the spatial position information of the laser pattern, and the determination and comparison of the distance so as to obtain the distance relationship between the metal parts corresponding to the laser pattern, thereby determining whether a gap exists, and calculating the gap Size information.
  • FIG. 8 is a schematic structural diagram of an embodiment of a visual welding system of the present application.
  • the vision welding system includes a vision inspection system 10 and a laser projection device 20.
  • the visual inspection system 10 is used to perform visual inspection on two metal parts in the welding area. After obtaining the arrangement of the two metal parts, the laser projection device 20 projects a cross shape on the two metal parts determined to be different in space. For the laser pattern, the visual inspection system 10 further determines the gap information between the two metal parts in a structured light detection manner according to the cross-shaped laser pattern.
  • the visual inspection system 10 specifically includes an image sensor 11 and a processor 12.
  • the image sensor 11 first performs image acquisition on the welding area to obtain a visual inspection image, and then the processor 12 acquires the image sensor 11
  • the obtained visual inspection image is processed to identify the two metal parts in the visual inspection image that need to be tested for gaps. Further, the specific arrangement relationship and position information of the identified two metal parts are determined, and the position is determined.
  • the laser projection device 20 is transmitted with the arrangement information.
  • the laser projection device 20 mainly includes a light source 21.
  • the visual inspection system 10 determines the positions of two metal components and the specific arrangement relationship, the position information and arrangement of the two metal components are sent by the visual inspection system 10 to determine the laser.
  • the detection method is specifically, that is, information transmitted through the processor 12, and the light source 21 projects different laser patterns by using the obtained position information and arrangement information of the two metal parts.
  • the light source 21 of the laser projection device 20 projects a cross-shaped laser pattern on the two metal parts, and makes the first and second stripe laser patterns act on the two metal parts respectively according to the specific position information of the metal parts. on the surface.
  • the image sensor 11 is responsible for image acquisition of the two metal parts to obtain a gap detection image.
  • the processor 12 obtains the gap detection image from the obtained gap detection image.
  • the laser detection patterns of the two metal surfaces are respectively shown in the gap detection image, and the spatial coordinates of at least two reference points on the surfaces of the two metal parts are respectively based on the position information in the laser pattern gap image.
  • the spatial linear equation corresponding to each metal component is determined by the spatial coordinates of the reference point, and the gap information between the two metal components is further calculated according to the spatial linear equation of each metal component.
  • the image sensor 11 uses a low-cost 2D image sensor, which cooperates with the processor 12 and the light source 21 to form a 3D structural model of the light source 21, metal parts, and the image sensor 11. Based on the principle of structured light, by collecting images on metal parts, on the one hand, the horizontal and vertical axis coordinates of the points are obtained based on the planar position information of the points, and on the one hand, the image is shifted from the light source 21 and the image sensor 11 Degrees to obtain the vertical axis coordinates of the point taken.
  • the processor 12 provided in this embodiment is not limited to image processing, but can also perform other processing, such as controlling the projection direction of the light source 20 and controlling the acquisition angle of the image sensor 11.
  • the processor 12 It can also be implemented by external connection. In order to save costs, the processor 12 can also perform related processing on multiple systems at the same time.
  • FIG. 9 is a schematic structural diagram of an embodiment of a computer storage medium of the present application.
  • the program file 31 can be stored in the storage device in the form of a software product, and is also recorded.
  • the various calculated data includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the methods in the embodiments of the present application.
  • the aforementioned storage devices include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes Or terminal devices such as computers, servers, mobile phones, and tablets.
  • the present application provides a gap detection method and system for a visual welding system.
  • the corresponding laser detection method is selected to the two Each metal part projects a laser pattern of a predetermined shape, and according to the collected laser pattern, calculates the positional relationship of the laser pattern, and further calculates the gap information between the two metal parts.
  • the 2D vision system gap Detection replaces the expensive 3D vision system gap detection, which optimizes the gap detection method, improves work efficiency, and reduces costs.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé et système de détection d'écart destinés à un système visuel de soudage. Le procédé comprend : la détermination d'une relation d'agencement entre deux parties métalliques (M, N) dans une zone à souder par inspection visuelle ; si les deux parties métalliques (M, N) sont disposées en croix, la projection d'un motif laser à réticule sur les deux parties métalliques (M, N) ; et la détermination d'informations d'écart entre les deux parties métalliques (M, N) par inspection à la lumière structurée selon le motif laser à réticule. Le procédé peut mettre en œuvre la détection d'écart d'une zone de soudage, et assure une fonction de système d'inspection visuelle 3D à l'aide d'un système visuel 2D, ce qui permet d'améliorer la technologie et de réduire les coûts.
PCT/CN2018/103075 2018-08-29 2018-08-29 Procédé et système de détection d'écart destinés à un système visuel de soudage Ceased WO2020042030A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880087344.7A CN111918742B (zh) 2018-08-29 2018-08-29 视觉焊接系统的缝隙检测方法以及系统
PCT/CN2018/103075 WO2020042030A1 (fr) 2018-08-29 2018-08-29 Procédé et système de détection d'écart destinés à un système visuel de soudage

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PCT/CN2018/103075 WO2020042030A1 (fr) 2018-08-29 2018-08-29 Procédé et système de détection d'écart destinés à un système visuel de soudage

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CN1175687A (zh) * 1996-07-29 1998-03-11 埃尔帕特朗尼股份公司 用于跟踪和检查边缘或者边界的方法以及设备
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CN112884833B (zh) * 2021-03-18 2023-10-27 北京博清科技有限公司 一种焊缝坡口的检测方法、装置及计算机设备

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