WO2020042031A1 - Procédé d'inspection de ligne de système de soudage basé sur la vue et système - Google Patents

Procédé d'inspection de ligne de système de soudage basé sur la vue et système Download PDF

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Publication number
WO2020042031A1
WO2020042031A1 PCT/CN2018/103076 CN2018103076W WO2020042031A1 WO 2020042031 A1 WO2020042031 A1 WO 2020042031A1 CN 2018103076 W CN2018103076 W CN 2018103076W WO 2020042031 A1 WO2020042031 A1 WO 2020042031A1
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WIPO (PCT)
Prior art keywords
metal parts
gap
image
visual inspection
projection
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/103076
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English (en)
Chinese (zh)
Inventor
阳光
王磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
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 PCT/CN2018/103076 priority Critical patent/WO2020042031A1/fr
Priority to CN201880087342.8A priority patent/CN111918741A/zh
Publication of WO2020042031A1 publication Critical patent/WO2020042031A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

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, comprising the steps of: determining the arrangement relationship of two metal parts in a region to be welded by visual inspection; When the surface is set, a surface laser is projected onto the two metal parts; and gap information between the two metal parts is determined according to a projection result of the surface laser.
  • a visual welding system the system includes a visual inspection system for determining an arrangement relationship between two metal components in a region to be welded by visual inspection;
  • a laser projection device configured to project a surface laser on two metal components whose arrangement is determined to be coplanar in space; the visual detection system further determines a gap between the two metal components according to a projection result of the surface laser. 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 between two metal parts in the area to be welded by visual inspection, and when it is determined that the two metal parts are arranged in space and coplanar, The surface laser pattern is projected on the two metal parts, and the gap information between the two metal parts is determined according to the projection result of the surface laser, 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 diagram of a specific structure of the embodiment shown in FIG. 3;
  • FIG. 5 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. 6 is a schematic diagram of a specific embodiment of the embodiment shown in FIG. 5;
  • FIG. 7 is a schematic structural diagram of an embodiment of a visual welding system of the present application.
  • FIG. 8 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.
  • Different detection methods are used for different metal welding methods, that is, different detection methods are used for different arrangements of metal. Therefore, after identification, the position information of the two metal parts is processed to obtain the position relationship. .
  • image collection is performed on the welding area, and two metal parts in the collected visual inspection image are identified, and then the arrangement relationship between the two metal parts is determined to complete 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 surface laser beam of a certain width is projected on two metal parts. Specifically, it can cover all or part of the two metal parts at the same time, and can cover all or part of the joint of the two metal parts.
  • a projection of the metal components is generated on the imaging plate, or the two metal components are imaged from the projection direction of the surface laser to determine the gap information between the two metal components.
  • FIG. 3 is a schematic flowchart of a third embodiment of the gap detection method of the visual welding system of the present application
  • FIG. 4 is a specific schematic diagram in the embodiment of FIG. 3. It is a cross-sectional view perpendicular to the acquisition direction.
  • a surface laser capable of covering the two metal parts is simultaneously projected through two metal parts, and then when there is no gap at the joint of the two metal parts, the brightness is compared with the surrounding brightness, and finally Determine the gap information between the two metals. It includes the following steps:
  • S131a Perform image acquisition on the projections of the two metal parts on which the surface laser is projected to obtain a projection detection image.
  • a projection is formed on the imaging plate provided on the back surface of the two metal parts, and the two metal parts on which the surface laser is projected are imaged.
  • the projection on the board is used for image acquisition to obtain a projection detection image.
  • S132a Perform image recognition on the projection detection image to determine whether there is a gap between the projections corresponding to the two metal parts.
  • the laser is projected on the two metal parts through the area laser to be impenetrable, thereby forming a projection area on the imaging plate on the back of the metal part.
  • Part of the brightness area formed on the imaging board that is, there is a gap between the projection areas corresponding to the two metal parts, so it is necessary to perform image recognition on the projection detection image to determine whether there is greater than Set a threshold gap image.
  • the two metal parts M1 and N1 are arranged in space coplanar, and a complete laser pattern is projected on the two metal parts, so that the laser pattern can cover the two metal parts. Since the laser cannot penetrate the metal Component, a projection image m1 is formed on the imaging plate on the backlight surface of the metal component M1, a projection image n1 is formed on the imaging plate on the backlight surface of the metal component N1, and image acquisition is performed for the entire projection area.
  • the surface laser if there are no gaps between the two metal parts, the surface laser cannot pass through, and the projection images corresponding to the two metal parts form a complete projection area. However, if there is a gap between the two metal parts, the surface When the laser is projected on it, part of it will pass through the gap, which causes the corresponding projection images of two metals to be discontinuous when identifying the projection area, and there is a certain brightness gap between them.
  • the projection image m1 and the projection image n1 form a complete projection area.
  • FIG. 5 is a schematic flowchart of a fourth embodiment of the gap detection method of the visual welding system of the present application
  • FIG. 6 is a specific schematic diagram in the embodiment of FIG. 5.
  • a surface laser capable of covering the two metal parts is simultaneously projected through two metal parts, and then when there is no gap at the joint of the two metal parts, the brightness is compared with the surrounding brightness, and finally Determine if there is a gap between the two metals and calculate the gap information. It includes the following steps:
  • the surface laser is projected on two metal parts. Because the metal parts have a reflection phenomenon, the surface laser projected on the two metal parts will directly form the corresponding surface laser pattern.
  • the metal parts collect images to obtain the gap detection image.
  • S132b Perform image recognition on the gap detection image to determine whether there is a sudden change in brightness at the joint of the two metal parts;
  • the corresponding surface laser pattern will be formed on the metal part. If there is a gap between the two metal parts, there will be some The surface laser passes through the gap, so that there is a sudden change in brightness between the surface laser patterns corresponding to the two metal parts, that is, the brightness is significantly different from the surroundings. Therefore, it can be determined whether there is a gap between the metal parts.
  • the surface laser pattern is identified from the gap detection image, and is used to determine whether a junction of the surface laser pattern corresponding to the two metal parts has a brightness abrupt area with a width greater than a preset threshold width.
  • the metal part M2 and the metal part N2 are arranged in a space coplanar, and a complete laser pattern is projected on the two metal parts, so that the laser pattern can be bridged on the two metal parts, that is, the laser pattern can be at least partially
  • the metal member M2, the metal member N2, and the bonding area thereof are covered so that a laser pattern m2 is formed on the metal member M2, and a laser pattern n2 is formed on the metal member N2.
  • the entire laser pattern area is complete, but if there is a gap between the two metal parts, the surface laser When projected on it, part of it will pass through the gap.
  • the brightness of the gap is different from that of other areas, that is, the brightness is lower or higher. . Therefore, when the area laser pattern area is identified, it is determined that there is a gap between the two metal parts when it is detected that there is a sudden change in brightness at the joint of the surface laser pattern corresponding to the two metal parts that is larger than a preset threshold.
  • the laser pattern m2 and the laser pattern n2 form a complete laser pattern.
  • the laser pattern m2 and the laser pattern n2 form a complete laser pattern.
  • an imaging plate may be provided on the back surface of the metal component, and the imaging plate and the metal component have a relatively obvious reflection difference.
  • the brightness of the abrupt brightness region is smaller than the surrounding brightness at this time.
  • the brightness of the abrupt brightness area is greater than the surrounding brightness.
  • the brightness of the entire image is stepwise.
  • the area laser is projected on the two metal parts, and the area where the gap exists between the two metal parts will transmit light, so that the brightness is different from other areas, and the information of the gap is determined.
  • FIG. 7 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 the laser light on the two metal parts determined to be coplanar in space. The visual inspection system 10 further determines the gap information between the two metal parts according to the projection result of the surface laser.
  • the visual inspection system 11 specifically includes an image sensor 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 detected by the image sensor 11.
  • the visual inspection image of the 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 and The arrangement information transmission laser projection device 20.
  • the laser projection device 20 mainly includes a light source.
  • the visual inspection system 10 determines the positions of two metal parts and the specific arrangement relationship, the position information and arrangement of the two metal parts are sent by the visual inspection system 10 to determine the laser detection.
  • the method, specifically, and the information transmitted by the processor 12, the light source 21 projects different laser patterns based on the obtained position information and arrangement information of the two metal parts.
  • the message sent by the visual inspection system 10 is that the arrangement relationship of the two metals is spatially coplanar.
  • the light source 21 of the laser projection device 20 projects a surface laser onto two metal parts, and enables the surface laser to cover the two metal parts at the same time according to the specific position information of the metal parts.
  • the image sensor 11 is responsible for image acquisition of the projection of the two metal components on the imaging plate, thereby acquiring a projection detection image.
  • the imaging plate is transparent, and the image sensor 11 is located in a space on the side of the imaging plate facing away from the two metal parts. If the imaging plate is non-transparent, the image sensor 11 is located on the surface of the imaging plate and the metal parts. In the space between the faces.
  • the processor 12 performs image recognition on the projection detection image through the acquired projection detection image to determine whether there is a light transmission gap corresponding to the projection of the two metal parts and the width is greater than a preset threshold width; if there is a light transmission gap , It is determined that there is a gap between the two metal parts.
  • the image sensor 11 is responsible for image acquisition of the surface laser patterns on the two metal parts, thereby obtaining a gap detection image.
  • the processor 12 recognizes the surface laser pattern on the two metal parts through the obtained gap detection image, and determines whether there is a sudden change in brightness in the identified surface laser pattern that is larger than a preset threshold width. If the brightness exists, Sudden areas, it is determined that there is a gap between the two metal parts.
  • the processor 12 provided in this embodiment is not limited to image processing, but may 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 may also be implemented by external connection. In order to save costs, the processor 12 may also perform related processing on multiple systems at the same time.
  • FIG. 8 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 based on the collected laser pattern, calculates the positional relationship of the laser pattern, and further calculates the gap between the two metal parts.

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

Abstract

L'invention concerne un procédé d'inspection de ligne d'un système de soudage basé sur la vue et un système. Le procédé comprend : la détermination d'une relation d'arrangement entre deux parties métalliques (M1, N1) d'une région à souder, grâce à une inspection visuelle ; lorsque les deux parties métalliques (M1, N1) sont coplanaires dans l'espace, la projection d'un laser de surface sur les deux parties métalliques (M1, N1) ; et la détermination d'informations de ligne entre les deux parties métalliques (M1, N1), selon un résultat de projection du laser de surface. Grâce à ce procédé, l'inspection de ligne pour une région à souder est possible et des fonctions d'un système d'inspection visuelle en 3D sont réalisées à l'aide d'un système d'inspection visuelle en 2D, ce qui améliore la technologie en économisant les coûts.
PCT/CN2018/103076 2018-08-29 2018-08-29 Procédé d'inspection de ligne de système de soudage basé sur la vue et système Ceased WO2020042031A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/103076 WO2020042031A1 (fr) 2018-08-29 2018-08-29 Procédé d'inspection de ligne de système de soudage basé sur la vue et système
CN201880087342.8A CN111918741A (zh) 2018-08-29 2018-08-29 视觉焊接系统的缝隙检测方法以及系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/103076 WO2020042031A1 (fr) 2018-08-29 2018-08-29 Procédé d'inspection de ligne de système de soudage basé sur la vue et système

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CN112705387B (zh) * 2020-12-23 2022-05-24 神华铁路装备有限责任公司 漏模贴合系统及漏模贴合方法

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EP0842725A1 (fr) * 1996-04-12 1998-05-20 Fanuc Ltd Procede de commande pour soudage sequentiel a passes multiples
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CN105571502B (zh) * 2015-12-29 2019-08-09 上海交通大学 搅拌摩擦焊接中焊缝间隙的测量方法
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CN107421505A (zh) * 2017-06-24 2017-12-01 江苏瑞伯特视觉科技股份有限公司 一种多尺度检测焊缝跟踪传感器

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EP0842725A1 (fr) * 1996-04-12 1998-05-20 Fanuc Ltd Procede de commande pour soudage sequentiel a passes multiples
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
CN101479566A (zh) * 2005-11-14 2009-07-08 普雷茨特影像有限及两合公司 评价工件结合位置的方法和设备
CN101486124A (zh) * 2009-02-13 2009-07-22 南京工程学院 多结构光双目复合视觉焊缝跟踪方法及装置
CN101927395A (zh) * 2010-07-26 2010-12-29 清华大学 焊缝跟踪检测设备及方法
CN102441724A (zh) * 2011-11-30 2012-05-09 南昌航空大学 基于面性辅助光源的焊缝识别传感装置
CN104298065A (zh) * 2014-05-07 2015-01-21 浙江大学 基于多台高速投影机拼接的360°三维显示装置和方法
CN107442973A (zh) * 2016-05-30 2017-12-08 上海气焊机厂有限公司 基于机器视觉的焊道定位方法及装置

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