无坡口对接焊缝特征角点检测方法
Detection of non-groove butt joint feature based on corner principle
-
摘要: 针对无坡口平板对接焊缝，研究一种应用线结构光传感的角点检测原理实现焊缝特征检测与跟踪的方法.与基于线结构光形变特征检测焊缝位置的传统方法不同，根据激光条纹在焊缝处的灰度变化，运用图像形态学处理方法，提取焊缝中心特征.计算图像每列邻域内灰度值和，运用中心差分方法，提取焊缝图像感兴趣区域.再依据角点检测原理，确定焊缝中心亚像素级坐标位置，通过简单快速的系统标定，得到焊缝实际位置偏差.结果表明，对焊缝间隙为0.2 mm左右的对接焊缝进行跟踪试验，平均误差均保持在0.1 mm以内，满足焊缝跟踪精度要求.Abstract: A method for detecting and tracking the non-groove butt joint by using the principle of corner detection based on line structured light vision sensing is studied. It is different from the traditional line structured light sensing method to detect the weld position according to the deformation feature. The proposed method applies for the fact that the laser stripe has obvious gray gradient variation in the weld. The morphological image processing method is adopted to extract the feature of weld center. The gray value of each column in the image is calculated, and the region of interest is extracted by the central difference method. According to the principle of the corner detection method, the sub-pixel coordinates of the weld center can be determined accurately. The actual position deviation of the weld is obtained by using a simple and fast system calibration. Experimental results show that the average error can be kept within 0.1 mm by tracking a butt joint whose width is about 0.2 mm, which can meet the requirement of seam tracking precision.
-
Keywords:
- seam tracking /
- line structured light /
- butt joint weld /
- non-groove /
- corner detection
-
-
[1] He Y, Xu Y, Chen Y, et al. Weld seam profile detection and feature point extraction for multi-pass route planning based on visual attention model[J]. Robotics & Computer-Integrated Manufacturing, 2015, 37:251-261. [2] 陈海永, 孙鹤旭, 徐德. 一类窄焊缝的结构光图像特征提取方法[J]. 焊接学报, 2012, 33(1):61-64 Chen Haiyong, Sun Hexu, Xu De. An image feature extraction method for a certain kind of narrow gap weld seam[J]. Transactions of the China Welding Institution, 2012, 33(1):61-64 [3] 邹勇, 李运华, 蒋力培, 等. 基于熔池图像尖端特征规律的焊接偏差测定方法[J]. 焊接学报, 2015, 36(8):18-22 Zou Yong, Li Yunhua, Jiang Lipei, et al. Method of detecting weld deviation based on the image feature of molten pool's edge[J]. Transactions of the China Welding Institution, 2015, 36(8):18-22 [4] Gao X, Mo L, Xiao Z, et al. Seam tracking based on Kalman filtering of micro-gap weld using magneto-optical image[J]. The International Journal of Advanced Manufacturing Technology, 2016, 83(1-4):21-32. doi: 10.1007/s00170-015-7560-x [5] 章为川, 孔祥楠, 宋文. 图像的角点检测研究综述[J]. 电子学报, 2015, 43(11):2315-2321 Zhang Weichuan, Kong Xiangnan, Song Wen. Review of image corner detection algorithms[J]. Chinese Journal of Electronics, 2015, 43(11):2315-2321, doi: 10.3969/j.issn.0372-2112.2015.11.026 -
期刊类型引用(14)
1. 陈玉龙，别渭毅，鲁军，杨盼盼，张力. 超薄板脉冲激光焊接工艺特性及成形质量控制. 航天制造技术. 2024(01): 38-42 . 
百度学术
2. 张鑫源，孙振邦. 能量配比对铝合金激光-MIG复合焊接残余应力的影响. 焊接. 2024(06): 47-53 . 百度学术
3. 赵轩. 激光加工在电梯钣金件制造领域中的应用. 中国电梯. 2024(11): 70-73 . 百度学术
4. 张景祺，相志磊，王细波，雷永平，林健. 超薄板焊后波浪变形的形成原因及控制方法探讨. 机械工程学报. 2022(04): 72-79 . 百度学术
5. 陆国强，赵航，吴馥云. 基于激光光栅载波技术的微位移测量方法. 激光杂志. 2022(04): 65-69 . 百度学术
6. 张曌，李嘉宁. 激光精密加工成型技术及产业化应用. 中国铸造装备与技术. 2022(03): 16-22 . 百度学术
7. 何建萍，吴鑫，吉永丰，卢飞. 100 μm超薄不锈钢板脉冲微束等离子弧焊成形机理. 焊接学报. 2021(06): 77-84+101-102 . 本站查看
8. 黄波，王旺，王佳，李轩，何庆中，左超. 全焊接球阀焊接残余应力及变形数值模拟. 油气储运. 2021(08): 895-902 . 百度学术
9. 王钰，王凯，罗子艺，卢清华，杨景卫. 大功率激光焊接工艺对304不锈钢焊接接头组织和电化学行为的影响. 焊接. 2020(03): 17-23+65-66 . 百度学术
10. 钱伟，蒋明. 数字图像相关方法中数字散斑场的制作与应用研究. 液晶与显示. 2020(08): 861-869 . 百度学术
11. 火巧英，闫海宁，涂本荣，陆安进. 焊接工艺参数对Q345NQR2耐候钢激光焊焊缝成形的影响. 焊接技术. 2020(08): 16-18+105-106 . 百度学术
12. 王旺，王佳，曹修全，何庆中，刘惺. Q235钢等离子熔覆的残余应力及变形数值模拟. 特种铸造及有色合金. 2020(09): 975-979 . 百度学术
13. 吴承隆，尹浩，黄泽涵. GH4169镍基高温合金脉冲激光焊工艺参数优化. 工具技术. 2020(10): 38-42 . 百度学术
14. 朱国仁，庞立林，朱慨迅，杨明，王洪潇. 预拉伸对不锈钢电阻点焊接头疲劳寿命的影响. 焊接. 2020(11): 1-4+61 . 百度学术
其他类型引用(14)
计量
- 文章访问数: 714
- HTML全文浏览量: 21
- PDF下载量: 149
- 被引次数: 28
下载:
