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Visual sensor detection method for welding groove edge position

A welding groove and visual sensing technology, applied in welding equipment, welding accessories, arc welding equipment, etc., can solve the problems of poor environmental adaptability, narrow application range, low detection accuracy of groove edge position, etc. Environmental adaptability, avoiding the interference of arc light, welding fume and other interference ability

Active Publication Date: 2018-07-06
JIANGSU UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to propose a visual sensor for welding groove edge position with high detection accuracy and strong anti-interference ability in view of the shortcomings of the existing technology, such as low detection accuracy of groove edge position, narrow application range, and poor environmental adaptability. Detection method

Method used

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  • Visual sensor detection method for welding groove edge position
  • Visual sensor detection method for welding groove edge position
  • Visual sensor detection method for welding groove edge position

Examples

Experimental program
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Effect test

Embodiment 1

[0051] like Image 6 Shown is an example of the welding image preprocessing flow for I-groove welding with a oscillating pulsed melting electrode arc. The test conditions include: using a digital CMOS infrared camera as the visual sensor 8, and collecting the overall image 12 of the welding area when the arc 2 stays at the side wall of the welding groove 6 in the external trigger mode, the shooting angle used is 25°, and the aperture is 16° , the exposure time is 0.2ms; the optical filter system 7 designed to match includes a UV mirror, a neutral dimming filter with a transmittance of 30%, a narrow-band filter with a center wavelength of 970nm and a bandwidth of 20nm; welding test The base metal of piece 1 is low carbon steel Q235, the gap of welding groove 6 is 14mm; the average current of pulse arc 2 is 280A, the average arc voltage is 29.5V, the welding speed Vw is 20.3cm / min, and the wire dry elongation is 18mm , the diameter of welding wire 3 is 1.2mm, the flow rate of w...

Embodiment 2

[0056] AC TIG welding arc (non-melting pole AC arc) is used to weld the V-shaped groove with a slope angle of 45° on both sides, and the arc 2 used does not swing during welding. The test conditions include: the visual sensor 8 is a digital CCD camera, and the overall image 12 of the welding area is acquired in the external trigger mode. The shooting angle used is 30°, the aperture is 11, and the exposure time is 0.5ms; the designed optical filter system 7 includes a UV mirror, a neutral dimming filter with a transmittance of 10%, a narrow-band filter with a center wavelength of 880nm and a bandwidth of 20nm; the base material of welding test piece 1 is low-carbon steel Q235, and its welding groove 6 is on the The gap between the edges 4 and 5 is 20mm; the average current of the TIG welding arc 2 used is 160A, the welding speed Vw is 7cm / min, the tungsten electrode extension length is 3.5mm, the arc length is 2mm, and the welding shielding gas is pure Ar gas. The flow rate is ...

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Abstract

The invention discloses a visual sensor detection method for welding groove edge position, which uses a visual sensor to collect the overall image of the welding area, intercepts the ROI window image of the groove edge according to the arc position in the image, and performs combined filtering, self-adaptive threshold and edge detection method. After extraction, a mobile local pattern recognition small window is established on the obtained groove edge image, and the straightness of the groove edge in the local pattern recognition small window is detected in real time, and finally the position detection value of the straightest section of the groove edge is used as the welding The detection value of the edge position of the groove realizes the visual sensing detection of the edge position of the welding groove. The system of the present invention has simple structure, wide application range of groove form and joint form, high detection accuracy of groove edge position, good environmental adaptability, strong anti-interference ability, and can be used for shaking (rotating, swinging or Non-oscillating) arc welding occasions.

Description

technical field [0001] The invention belongs to the technical field of welding, and in particular relates to a visual sensing detection method for the edge position of a welding groove. Background technique [0002] In the actual welding process, the welding groove usually changes due to factors such as machining error, assembly error and thermal deformation. At this time, in fully automated welding, in order to ensure the welding quality, it is often necessary for the welding equipment to have an autonomous welding seam tracking function. These automated welding equipment often use information such as the edge of the welding groove, the arc or the center of the welding wire as the welding seam sensing feature, and use special sensors to detect the relative position of the welding groove and the arc (or welding wire) to detect the welding seam deviation, and finally the detection result will be detected. It is sent to the deviation correction system for welding seam deviati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127B23K9/16B23K9/32
CPCB23K9/127B23K9/16B23K9/32
Inventor 朱杰王加友范永强苏娜陈雨葭
Owner JIANGSU UNIV OF SCI & TECH