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Method for detecting curved edge sub-pixels in laser tailor-welding image of to-be-welded piece

A technology of laser tailor welding and detection method, applied in the field of visual inspection, can solve the problems such as robustness to be improved, easily affected by noise, etc., and achieve the effect of stable and fast calculation process and simple selection.

Active Publication Date: 2019-06-25
DALIAN UNIVERSITY
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

The above method can complete sub-pixel edge detection, but the process of calculating sub-pixel edges is easily affected by noise, and the robustness of detection needs to be improved

Method used

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  • Method for detecting curved edge sub-pixels in laser tailor-welding image of to-be-welded piece
  • Method for detecting curved edge sub-pixels in laser tailor-welding image of to-be-welded piece
  • Method for detecting curved edge sub-pixels in laser tailor-welding image of to-be-welded piece

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Embodiment 1

[0038] This embodiment provides a sub-pixel detection method of a curve edge in an image of a laser tailor welding to-be-welded piece. The welding head used in this method is installed on the numerical control machine tool. The industrial CCD camera is installed on the welding head and moves synchronously with the welding head. Using the Sobel edge detection algorithm to obtain the pixel-level edge points (i k ,j k ), k=1,2,...n (n is the number of pixel-level edge points). Take pixel-level edge points (i k ,j k ), the specific steps to find the corresponding sub-pixel edge point are as follows:

[0039] The first step is to fit the curve with pixel-level edge points

[0040] Pixel-level edge points (i k ,j k ) is the coordinate origin O, and a coordinate system is established with the horizontal direction as the x-axis and the vertical direction as the y-axis. Take another 4 adjacent pixel-level edge points and fit the quadratic curve l k , its expression is y=a k ...

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Abstract

The invention discloses a method for detecting curved edge sub-pixels in a laser tailor-welding image of a to-be-welded piece, and belongs to the field of visual detection. The method comprises the following steps: firstly, carrying out Gaussian filtering on a to-be-welded piece image, and solving pixel-level edge points by applying a Sobel operator; taking a pixel-level edge point, and establishing a coordinate system by taking the center of the pixel-level edge point as an original point; fitting a curve by using the pixel-level edge points and the other four adjacent pixel-level edge points, and translating the fitting curve along a y axis; taking a pixel in a 5x5 range by taking the pixel-level edge point as a center, dividing the pixel in the 5x5 range into two regions by a translation curve, and enabling the gray values in the regions to be the same; solving a curve translation amount according to the actual gray value of the pixel in the range of 5x5 degrees; and finally, solving the position of the edge point of the sub-pixel according to the intersection point of the connection line of the gravity center and the original point of the pixel gray level within the 5x5 range and the translated curve; and sequentially selecting the pixel-level edge points and repeating the process to obtain the sub-pixel-level edge points corresponding to the pixel-level edge points. The method has the advantages of being high in calculation speed, high in reliability and good in robustness.

Description

technical field [0001] The invention belongs to the field of visual detection, in particular to a method for detecting sub-pixels of curve edges in images of parts to be welded by laser tailor welding. Background technique [0002] Tailored laser welding is a non-contact workpiece processing method, which can realize the welding of various metals and non-metals. It has the characteristics of concentrated energy density, high welding speed, small heat-affected zone, and large aspect ratio. It is more and more widely used in the manufacture of key components in the fields of marine and marine. In industrial production, the laser welding head is installed on a multi-degree-of-freedom welding robot arm or a CNC machine tool. The welding trajectory is planned before welding, and the welding head moves according to the planned trajectory during the welding process to realize the welding process. Under normal circumstances, it is necessary to use fixtures to fix the parts to be w...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/13
Inventor 王邦国
Owner DALIAN UNIVERSITY
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