Galvanized steel GMAW weld joint forming characteristic and welding gun direction synchronous real-time detection method

Abstract

The invention provides a synchronous real-time detection method for the full position of lap joint weld joint forming characteristics and the direction of a welding gun according to the characteristics of galvanized steel sheet lap joint GMAW based on visual sensing. Firstly, a laser vision system is used for synchronously detecting weld joint and welding wire information, and the weld joint contour and the welding wire direction are obtained in real time through a scale invariant feature transformation and direction feature detection algorithm; secondly, proposing a Harris corner detection algorithm to realize weld joint contour feature point identification; and finally, aiming at the characteristic that the forming area of the GMAW weld joint of the joint is small, sub-pixel-level measurement of the height and width of the weld joint and the area of the weld joint is achieved based on a linear interpolation method, and weld joint gravity center detection is achieved based on zero moment and first moment. Sub-pixel-level detection of the height, the width, the area and the gravity center of a weld joint is achieved under the complex backgrounds of electric arcs, external constraints and the like, and meanwhile detection of the main working direction of the welding gun is achieved. The method has the advantages of high adaptability, high measurement precision, convenience in controlling weld formation and the like.

Description

technical field [0001] The invention relates to a method for synchronous and real-time detection of galvanized steel GMAW weld formation features and welding torch direction, belonging to the technical field of weld formation detection. Background technique [0002] The current welding methods for galvanized steel mainly include gas metal arc welding (GMAW), laser welding and laser-arc hybrid welding. Regardless of the welding method used, galvanized steel is prone to welding defects due to zinc vapor during the welding process. The characteristic parameters of weld seam formation are one of the main bases for feedback of welding quality and online optimization of welding torch posture, welding current and speed, etc. Therefore, it is one of the key technologies to control the welding quality of galvanized steel to effectively detect the weld forming characteristics and welding torch attitude. [0003] Weld forming characteristics include weld height, width, area and heat-...

AI Technical Summary

Problems solved by technology

At present, many studies focus on the measurement of a certain characteristic parameter of weld formation at different times, but there are no reports on the measurement of typical characteristics at different positions and the detection of the center of gravity of weld formation.

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