ToF-based welding seam recognition method

A recognition method and weldment technology, applied in the field of weld seam recognition, can solve the problems of environmental restrictions, large amount of calculation, and inability to determine three-dimensional information

Pending Publication Date: 2021-07-30
NANTONG UNIVERSITY
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  • Application Information

AI Technical Summary

Problems solved by technology

Although the binocular stereo vision technology has high precision and low cost, it has a large amount of calculation, high requirements on the algorithm, and certain restrictions on the environment used; the main challenge is how to solve the corresponding problem, that is, a given image in the image point, how to find the same point in another camera
Before the corresponding relationship is established, the difference cannot be accurately determined, and the 3D information of the target cannot be determined

Method used

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  • ToF-based welding seam recognition method
  • ToF-based welding seam recognition method
  • ToF-based welding seam recognition method

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Embodiment 1

[0039] see Figure 1-Figure 5 , this implementation provides a ToF-based weld recognition method, including the following steps:

[0040] Step S1. Obtain the original weld image of the weldment to be processed through the camera based on ToF technology. The original weld image includes: amplitude image and depth image;

[0041] Specifically, the original weld seam image is the weld seam image before welding or after welding. In this embodiment, a camera based on ToF technology is used to directly capture and acquire, and the sensor in the camera based on ToF technology is an array type, so that The three-dimensional information of the target can be quickly obtained in the process of each frame of image acquisition; the sensor in the camera based on ToF technology can emit modulated infrared light, which diffusely reflects after encountering the weld seam, and the receiving end analyzes the emitted light and The phase difference or time difference of the received light can obt...

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Abstract

The invention discloses a ToF-based welding seam recognition method. The method comprises the following steps: acquiring an original welding seam image; preprocessing the amplitude image; performing local threshold binarization processing on the preprocessed amplitude image to obtain a binarized image; extracting edge features of the binarized image; performing Radon transformation on the edge image, and identifying a weld seam image based on the appearance condition of the weld seam; obtaining two-dimensional information of the welding seam through the recognized welding seam image, and then solving three-dimensional coordinates of the welding seam in combination with corresponding depth information; constructing a conversion relation among a world coordinate system, a camera coordinate system, an image coordinate system and a pixel coordinate system; according to the conversion relation, the three-dimensional coordinates of the welding seam are converted into space coordinates under a world coordinate system; the method can improve the welding seam recognition efficiency and accuracy.

Description

technical field [0001] The present invention relates to the field of welding seam identification technology, in particular to a ToF-based welding seam identification method. Background technique [0002] Welding is one of the essential basic manufacturing technologies in the mechanical processing industry, and is widely used in modern manufacturing industries, such as marine engineering, aerospace, rail transit and other fields. Now that we have entered the era of intelligent manufacturing, traditional manual welding can no longer meet the requirements of processing accuracy and efficiency of related equipment, and the automation and intelligence of welding technology has become the mainstream of the market. [0003] The common automatic welding method is mainly "manual teaching-memory reproduction", which still requires technicians to control the welding robot through the teaching pendant to complete the welding. That is, by recording the taught path or trajectory, the wel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/13G06T5/50G06T5/00G06K9/38G06K9/46
CPCG06T7/0004G06T7/13G06T5/50G06T5/002G06T2207/10028G06T2207/20132G06T2207/20221G06T2207/30152G06V10/28G06V10/44
Inventor 商亮亮张浩泮佳俊张帆李佩齐刘腾
Owner NANTONG UNIVERSITY
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