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Weld joint contour feature recognition and weld pass real-time planning method

A contour feature and contour technology, applied in image data processing, instruments, calculations, etc., can solve the problem of low welding bead planning accuracy, and achieve the effect of improving efficiency, accuracy and production efficiency.

Active Publication Date: 2017-07-14
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a method for weld profile feature recognition and real-time planning of the weld bead. The present invention obtains the monotonic slope range and the sudden change point of the weld seam through the method of visual correction, and designs a welding line according to the sudden change point of the slope. The method of real-time planning of the welding path can determine the reasonable welding position in real time, solve the problem of low accuracy of the welding path planning, and achieve the purpose of planning the welding path in real time

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[0057] The specific implementation manner of the present invention will be described in more detail below with reference to schematic diagrams. Advantages and features of the present invention will be apparent from the following description and claims. It should be noted that all the drawings are in a very simplified form and use imprecise scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention.

[0058] see figure 1 with figure 2 , the invention discloses a weld contour feature recognition method, comprising the following steps:

[0059] S11: Using a laser vision sensor to irradiate the weld seam to obtain a grayscale image of the weld seam outline;

[0060] S12: Process the grayscale image to obtain a comprehensive saliency map of the weld outline;

[0061] S13: Process the comprehensive saliency map to obtain laser stripes;

[0062] S14: Process the laser stripes to obtain the monotonic slope inte...

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Abstract

The invention provides a weld joint contour feature recognition and weld pass real-time planning method, and the method comprises the steps: obtaining a weld joint contour image in real time through a laser visual sensor, and carrying out the gray scale processing to obtain a gray scale image; building a visual attention model, processing the gray scale image through the visual attention model, obtaining a comprehensive saliency map, and extracting laser stripes through combining with the Otsu threshold segmentation method and the nearest neighbor clustering algorithm; segmenting the extracted laser stripes based on the section span of monotonous slope, and obtaining a monotonous slope section and a slope catastrophe point; finally formulating an algorithm according to the slope catastrophe point, and planning a weld pass. The method solves a problem that conventional weld pass planning is low in precision, and the method achieves the real-time planning of the weld pass.

Description

technical field [0001] The invention belongs to the technical field of welding robots, and in particular relates to a welding seam contour feature recognition method and a method for real-time planning of welding bead. Background technique [0002] Welding bead planning means that the control system can automatically select the appropriate welding position for the next welding, which should include two aspects. One is to determine the initial welding point for the welding torch in the next welding decision, and the other is to determine a reasonable welding point for the welding torch in real time during welding. At present, there are three main methods to solve welding bead planning: model-based calculation method, CAD-based method and vision-based correction method. [0003] The model-based calculation method refers to calculating the approximate cross-sectional area of ​​the weld bead as a triangle and trapezoid according to the approximate relationship between the weldi...

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Application Information

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IPC IPC(8): G06T7/13G06T7/136G06T7/11
Inventor 何银水陈华斌许燕玲吕娜陈善本周浩
Owner SHANGHAI JIAO TONG UNIV
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