CN107020449A - Weld seam tracking sensor and its welding seam tracking method - Google Patents
Weld seam tracking sensor and its welding seam tracking method Download PDFInfo
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- CN107020449A CN107020449A CN201710281625.3A CN201710281625A CN107020449A CN 107020449 A CN107020449 A CN 107020449A CN 201710281625 A CN201710281625 A CN 201710281625A CN 107020449 A CN107020449 A CN 107020449A
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- weld seam
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- seam tracking
- image acquiring
- laser
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Classifications
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention relates to a kind of weld seam tracking sensor, including linking arm, generating laser, the first image acquiring sensor and the second image acquiring sensor for gathering gray level image are provided with linking arm, there is certain angle between the main shaft of generating laser and the main shaft of the first image acquiring sensor imaging system, the top of linking arm is provided with welding gun, and generating laser, the first image acquiring sensor and the second image acquiring sensor are connected with host computer respectively.The weld seam tracking sensor weld seam recognition rate of the present invention is high.In addition the invention further relates to the welding seam tracking method of the weld seam tracking sensor.
Description
Technical field
It is of the invention in addition also to relate to the present invention relates to a kind of detection device, more particularly to a kind of weld seam tracking sensor
And a kind of welding seam tracking method.
Background technology
The existing laser welded seam vision sensor based on workpiece surface appearance feature, in the butt weld of detection square groove
When, if not reserved butt-joint clearance, the foundation detected is only that weld seam both sides workpiece deviates ideal position and produced
Misalignment size, then just occur that misalignment size is too small and discrimination is low or the problem of None- identified.
In view of above-mentioned defect, the design people is actively subject to research and innovation, to found a kind of weld seam of new structure
Tracking transducer and its welding seam tracking method, to improve the discrimination of weld seam.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to provide a kind of high weld joint tracking sensing of weld seam recognition rate
Device, in addition the present invention welding seam tracking method of the weld seam tracking sensor is also provided.
Be provided with the weld seam tracking sensor of the present invention, including linking arm, the linking arm generating laser, with it is described
The first image acquiring sensor that generating laser coordinates and the second image acquiring sensor for gathering gray level image, it is described
There is certain angle, the connection between the main shaft of generating laser and the main shaft of the first image acquiring sensor imaging system
The top of arm is provided with welding gun, the generating laser, the first image acquiring sensor and the second image acquiring sensor difference
It is connected with host computer.
Further, weld seam tracking sensor of the invention, second image acquiring sensor is adopted positioned at the first image
Collect between sensor and generating laser.
Further, weld seam tracking sensor of the invention, the generating laser can be under the driving of sweep mechanism
Swing and project the laser beam of sector.
Further, weld seam tracking sensor of the invention, described first image collection sensor and the second IMAQ
Sensor be same imaging sensor, and described first image collection sensor or the second image acquiring sensor light path in
It is provided with tunable optical filter.
Further, weld seam tracking sensor of the invention, the tunable optical filter is automatically controlled tunable optical filter.
Further, weld seam tracking sensor of the invention, the tunable optical filter includes setting electricity on the connecting arm
Machine and be connected with the output shaft of motor and by multiple filter sets into filter disc.
Further, weld seam tracking sensor of the invention, including provide illumination for second image acquiring sensor
Light source.
Further, weld seam tracking sensor of the invention, the light source is monochromatic source.
By such scheme, weld seam tracking sensor of the invention at least has advantages below：The weld joint tracking of the present invention
Sensor increases a 2D the second image acquiring sensor on the basis of the laser seam sensor of principle of triangulation,
To realize sensor information fusion, the accommodation of weld seam tracking sensor work and the discrimination of weld seam are improved.Wherein, laser
Transmitter and the first image acquiring sensor coordinate, and constitute laser vision, obtain the depth information of weld seam upright position, Huo Zhetong
When obtain the depth of weld seam and weld seam horizontal position information；Second image acquiring sensor, the then side handled by gray level image
Formula realizes that the position of butt welding seam in the horizontal direction carries out detection judgement.Under some environment, the second image acquiring sensor needs
The light source of increase irradiation weld seam, to improve the change of weld edge contrast.Second image acquiring sensor is also used as prison
Control means, the subsidiary conditions of monitoring welding tracking process are provided for operator.
The welding seam tracking method of the present invention, comprises the following steps：
S1：Laser transmitter projects laser beam is to workpiece surface；
S2：Switch tunable optical filter, and adopted by the first image acquiring sensor and the second image acquiring sensor interval
Collect the gray level image of reflection laser and workpiece surface, and reflection laser data and greyscale image data are uploaded to host computer；
The host computer, is relatively only relative to what the first image acquiring sensor and the second image acquiring sensor were constituted
For erection system, do not refer to the computing device outside sensor singly or be integrated into the computing device of sensor internal；
S3：On the basis of the reflection laser data collected, host computer is calculated by principle of triangulation and obtains weld seam
Depth and position data；
S4：On the basis of the greyscale image data collected, host computer calculates the position data for obtaining weld seam；
S5：The position data obtained in step S3 and the position data obtained in S4 are weighted and calculated by host computer,
Obtain the accurate position data of weld seam；
S6：Host computer by the weld seam that is obtained in step S4 and step S5 several times and position data, pass through drive device
Adjust the position of welding gun.
By such scheme, welding seam tracking method of the invention at least has advantages below：The weld joint tracking side of the present invention
Method is by the fusion to two groups of position datas, so as to improve the discrimination to weld seam.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the structural representation of the weld seam tracking sensor of embodiment one；
Fig. 2 is the three-dimensional structure diagram of the weld seam tracking sensor of embodiment two；
Fig. 3 is the structural representation of the weld seam tracking sensor of embodiment three；
Fig. 4 is a kind of structural representation of weld seam tracking sensor in embodiment five；
Fig. 5 is the structural representation of another weld seam tracking sensor in embodiment five.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Embodiment one：
Such as Fig. 1, the weld seam tracking sensor of the present embodiment passes through scanning using the generating laser 1 for sending beam of laser
The rocking mirror that mechanism drives, or laser are swung in itself, laser beam fan is projected and workpiece table where weld seam
Face is formed on series of points shaped laser spot, the transversal for being arranged in a weld seam, and the transversal is approximately perpendicular to weld seam, laser beam
Projection plane can change relative to the relation of the primary optical axis of the first image acquiring sensor 2, for example can also be as shown in Figure 3.
The laser beam of scanning coordinates with the first image acquiring sensor 2, constitutes laser vision, detects the surface topography of weld seam, and then
Detect the height and position and horizontal position information of weld seam.Second image acquiring sensor 3 then independently shoots the 2D ashes of weld seam
Image is spent, to the image analysis processing, is only capable of obtaining the horizontal position information of weld seam, and the height and position letter of weld seam can not be obtained
Breath.By information fusion technology, two weld seam obtained by different approaches horizontal position informations, which are integrated, to be turned into more accurate, more may be used
The weld seam horizontal position information leaned on, foundation is provided for the TRAJECTORY CONTROL of welding gun.Here gray level image refers to pixel in image
Light and shade information gradual change, rather than refer in particular to monochrome image.
Embodiment two：
Such as Fig. 2, the weld seam tracking sensor of the present embodiment is with the weld seam tracking sensor difference of embodiment one,
What its generating laser was sent is a sector, and the smooth surface forms the light of a high brightness in weld seam on the surface of the workpiece
Line, the light line is approximately perpendicular to weld seam, and the first image acquiring sensor shoots the light line, analysis obtain weld seam height and position and
Horizontal position information.
, can also be right in above-described embodiment one and embodiment two in order to obtain the 2D gray level images of apparent weld seam
Weld seam carries out active illumination, one ring-shaped lighting light source of increase around the second image acquiring sensor preferably.
Embodiment three：
Such as Fig. 3, the weld seam tracking sensor base of the weld seam tracking sensor of the present embodiment in embodiment one or embodiment two
Developed on plinth, the first image acquiring sensor is eliminated here.And the second image acquiring sensor is except playing above-described embodiment
Outside the function of middle collection 2D gray level images, point shaped laser spot or Line of light line that detection laser irradiates on workpiece 4 are also had concurrently
Function.Judge workpiece to the height distance of sensor, the horizontal position information of weld seam according to the image space of hot spot or light line.
Example IV：
Developed on the basis of embodiment three, what generating laser was sent is a light beam, and the light beam is without sweeping
Motion is retouched, that is, forms a hot spot.According to the image space of the laser facula only calculate workpiece to sensor height away from
From.
Embodiment five：
Such as Figure 4 and 5, the weld seam tracking sensor of the present embodiment is on the basis of embodiment three or example IV, and increase can
The filter system of switching, gathers to timesharing the 2D gray level images and laser vestige (hot spot or light line) of weld seam.The filter system
Automatically controlled tunable optical filter 6 can be used, as shown in Figure 4., can be according to actual conditions when shooting the 2D gray level images of weld seam
Its thang-kng amount is set, so as to the image clearly of weld seam；When shooting laser vestige, further reduction thang-kng amount, low to obtain
The image of the apparent laser vestige of background luminance.
Also the optical filter of two kinds of different characteristics can be used alternatingly using the method for mechanical switch, as shown in figure 5, using here
Filter disc 7 with multiple optical filters is set on one motor, motor, and motor is rotating cyclically switching and uses different characteristics
Optical filter.
Can also using it is electronic be adjusted to as system aperture by the way of realize different thang-kng amounts, it is different special to adapt to two kinds
The shooting of dot image.
Paired polarizer can also be used, the control of thang-kng amount is realized by changing its angle.
Embodiment six：On the basis of embodiment 5, increase the light source illuminated to weld seam.
Embodiment seven：On the basis of embodiment 6, monochromatic source will be changed to the light source that weld seam is illuminated, and will be used for
The filter designs of weld seam 2D gray level images are shot into only allowing the bandpass filter that passes through of illumination light；It will be used to shoot laser trace
The filter designs of mark image are into only allowing the bandpass filter that passes through of laser.
Weld seam tracking sensor and welding gun 5 are placed in welding executing agency, such as robot or welding tractor, sensing
Device is located at the front certain distance of welding gun 5, during welding, and the weld information that sensor will be observed that is transferred to computer or other movements
Seam track is obtained after terminal, processing, computer or mobile terminal can just deviate the distance of weld seam with real-time query welding gun, so that
Executing agency's adjustment welding torch position is controlled, the tracking to weld seam is realized.
According to the actual conditions of weld seam, sensor may be operated in different modes：
1) for having the weld seam of groove, or the obvious task of weld profile size characteristic, laser vision can be detected accurately
Characteristics of weld seam is simultaneously identified, and now the second image acquiring sensor 3 can be only as monitoring purposes, and operator can be in screen
Upper monitoring welding tracking situation.
Although 2) for there is the weld seam of groove or other overall size features, size characteristic not enough substantially or is present
The task of other interference, laser vision is difficult to be accurately detected characteristics of weld seam and is identified, and now the second IMAQ is passed
Sensor 3 can also provide welding seam position information in addition to can be as monitoring purposes, so as to auxiliary laser vision, common complete
Judge into position while welding, improve accuracy rate.
3) for the weld seam of square groove, weld size is not obvious enough, single or to be difficult to obtain stabilization from laser vision
Weld information, now using the second image acquiring sensor 3 provide plane half-tone information judged, can more accurately sentence
The horizontal level of disconnected weld seam, and the height and position of weld seam is still provided by laser vision.
Generally, the 2D half-tone informations identification according to weld seam is used in combination with the result that laser vision is recognized, can
To improve the weld seam detection degree of accuracy using the information of redundancy.The result that the gray level image provided according to 2D imaging sensors is recognized
Significance degree, the significance degree of size characteristic, and the weld seam historical information just detected, Ke Yijin are recognized with laser vision
Row redundancy fusion treatment, such as simply by the method for two kinds of recognition results of fiducial probability weight assignment, with regard to that can obtain
More accurately judge.
The welding seam tracking method of the present invention, comprises the following steps：
S1：Laser transmitter projects laser beam is to workpiece surface；
S2：Switch tunable optical filter, and adopted by the first image acquiring sensor and the second image acquiring sensor interval
Collect the gray level image of reflection laser and workpiece surface, and reflection laser data and greyscale image data are uploaded to host computer；
S3：On the basis of the reflection laser data collected, host computer is calculated by principle of triangulation and obtains weld seam
Depth and position data；
S4：On the basis of the greyscale image data collected, host computer calculates the position data for obtaining weld seam；
S5：The position data obtained in step S3 and the position data obtained in S4 are weighted and calculated by host computer,
Obtain the accurate position data of weld seam；
S6：Host computer by the weld seam that is obtained in step S4 and step S5 several times and position data, pass through drive device
Adjust the position of welding gun.
It the above is only the preferred embodiment of the present invention, be not intended to limit the invention, it is noted that led for this technology
For the those of ordinary skill in domain, without departing from the technical principles of the invention, some improvement and modification can also be made,
These improvement and modification also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of weld seam tracking sensor, it is characterised in that：Including linking arm, be provided with the linking arm generating laser,
The first image acquiring sensor coordinated with the generating laser and the second IMAQ sensing for gathering gray level image
There is certain angle between the main shaft of device, the main shaft of the generating laser and the first image acquiring sensor imaging system,
The top of the linking arm is provided with welding gun, and the generating laser, the first image acquiring sensor and the second IMAQ are passed
Sensor is connected with host computer respectively.
2. weld seam tracking sensor according to claim 1, it is characterised in that：Second image acquiring sensor is located at
Between first image acquiring sensor and generating laser.
3. weld seam tracking sensor according to claim 1, it is characterised in that：The generating laser can be in scanning machine
The driving lower swing of structure and the laser beam for projecting sector.
4. weld seam tracking sensor according to claim 1, it is characterised in that：Described first image gathers sensor and the
Two image acquiring sensors are same imaging sensor, and described first image gathers sensor or the second IMAQ sensing
Tunable optical filter is provided with the light path of device.
5. weld seam tracking sensor according to claim 4, it is characterised in that：The tunable optical filter is automatically controlled adjustable filter
Light device.
6. weld seam tracking sensor according to claim 4, it is characterised in that：The tunable optical filter includes the company of being arranged on
Connect the motor on arm and be connected with the output shaft of motor and by multiple filter sets into filter disc.
7. according to the weld seam tracking sensor described in claim 1, it is characterised in that：Including for second image acquiring sensor
The light source of illumination is provided.
8. according to the weld seam tracking sensor described in claim 7, it is characterised in that：The light source is monochromatic source.
9. a kind of welding seam tracking method of weld seam tracking sensor according to claim 4, it is characterised in that：Including as follows
Step：
S1：Laser transmitter projects laser beam is to workpiece surface；
S2：Switch tunable optical filter, and gather anti-by the first image acquiring sensor and the second image acquiring sensor interval
The gray level image of laser and workpiece surface is penetrated, and reflection laser data and greyscale image data are uploaded to host computer；
S3：On the basis of the reflection laser data collected, host computer calculates the depth for obtaining weld seam by principle of triangulation
Degree and position data；
S4：On the basis of the greyscale image data collected, host computer calculates the position data for obtaining weld seam；
S5：The position data obtained in step S3 and the position data obtained in S4 are weighted and calculated by host computer, are obtained
The accurate position data of weld seam；
S6：Host computer by the weld seam that is obtained in step S4 and step S5 several times and position data, adjusted by drive device
The position of welding gun.
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Cited By (10)
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| CN108372345A (en) * | 2018-02-11 | 2018-08-07 | 江苏理工学院 | A kind of laser scanning weld tracker |
| CN108680116A (en) * | 2018-06-12 | 2018-10-19 | 苏州睿牛机器人技术有限公司 | Laser sensor |
| CN109128488A (en) * | 2018-10-08 | 2019-01-04 | 北京众视精控科技有限公司 | Weld seam automatic tracking system based on polarized illumination |
| CN109986172A (en) * | 2019-05-21 | 2019-07-09 | 广东工业大学 | A kind of weld and HAZ method, equipment and system |
| CN110202263A (en) * | 2019-05-29 | 2019-09-06 | 同高先进制造科技（太仓）有限公司 | A kind of automatic laser welding workstation and working method |
| CN111438565A (en) * | 2019-01-17 | 2020-07-24 | 武汉唯拓光纤激光工程有限公司 | Welding seam identification compensation device and method |
| WO2020159831A1 (en) * | 2019-01-31 | 2020-08-06 | Trinity Central Maintenance, LLC | Welding tool |
| WO2021155536A1 (en) * | 2020-02-06 | 2021-08-12 | Abb Schweiz Ag | Apparatus and method for cutting opening from workpiece |
| CN114309889A (en) * | 2021-12-21 | 2022-04-12 | 上海电机学院 | Laser vision sensing system and method for welding seam tracking |
| CN116175035A (en) * | 2023-03-20 | 2023-05-30 | 中国十七冶集团有限公司 | Intelligent welding method for steel structure high-altitude welding robot based on deep learning |
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| CN108372345A (en) * | 2018-02-11 | 2018-08-07 | 江苏理工学院 | A kind of laser scanning weld tracker |
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| CN110202263A (en) * | 2019-05-29 | 2019-09-06 | 同高先进制造科技（太仓）有限公司 | A kind of automatic laser welding workstation and working method |
| WO2021155536A1 (en) * | 2020-02-06 | 2021-08-12 | Abb Schweiz Ag | Apparatus and method for cutting opening from workpiece |
| CN114309889A (en) * | 2021-12-21 | 2022-04-12 | 上海电机学院 | Laser vision sensing system and method for welding seam tracking |
| CN114309889B (en) * | 2021-12-21 | 2023-06-23 | 上海电机学院 | Laser vision sensing system and method for weld tracking |
| CN116175035A (en) * | 2023-03-20 | 2023-05-30 | 中国十七冶集团有限公司 | Intelligent welding method for steel structure high-altitude welding robot based on deep learning |
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