Weld Seam Trajectories Offline Planning Based on Laser Vision Sensing

WANG Wenkai; SHI Yu; ZHANG Gang; LI Chunkai; ZHU Ming; XU Muzhong; DAI Fengxian; XU Youwei

doi:10.7512/j.issn.1001-2303.2023.09.07

Human-machine Cooperation & Intelligent Welding | Views : 0 下载量: 19 CSCD: 0

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Weld Seam Trajectories Offline Planning Based on Laser Vision Sensing
Vol. 53, Issue 9, Pages: 55-60(2023)
DOI： 10.7512/j.issn.1001-2303.2023.09.07

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王文楷，石玗，张刚，等.基于激光视觉检测的焊缝轨迹离线规划［J］.电焊机，2023，53（9）：55-60.

WANG Wenkai, SHI Yu, ZHANG Gang, et al.Weld Seam Trajectories Offline Planning Based on Laser Vision Sensing[J].Electric Welding Machine, 2023, 53(9): 55-60.
王文楷，石玗，张刚，等.基于激光视觉检测的焊缝轨迹离线规划［J］.电焊机，2023，53（9）：55-60. DOI： 10.7512/j.issn.1001-2303.2023.09.07.

WANG Wenkai, SHI Yu, ZHANG Gang, et al.Weld Seam Trajectories Offline Planning Based on Laser Vision Sensing[J].Electric Welding Machine, 2023, 53(9): 55-60. DOI： 10.7512/j.issn.1001-2303.2023.09.07.

摘要

在实际焊接过程中，由于电弧弧光、飞溅等强烈的干扰，导致激光视觉检测特征点发生漂移，信息提取失败。为避免大电流CO,2,气体保护焊接过程中强弧光和飞溅的干扰，采用了离线视觉测量方法对待焊工件进行检测，将得到的图片进行形态学组合滤波和欧式距离场变换处理，利用差分法提取出坡口位置信息，最后采用分组求平均和插值法得到完整的焊接轨迹数据，将焊接轨迹数据传输至下位机实施自动焊接，最终得到了成形均匀，无气孔、咬边等缺陷的焊缝。

Abstract

Laser vision sensing technology has become one of the mainstream welding seam tracking techniques due to its features of non-contact, high precision, and fast response. However, in the actual welding process, strong interferences such as arc light and spatter can lead to drift of laser vision feature points and failure in information extraction. To mitigate the interference caused by strong arc light and spatter during the high-current CO,2, gas shielded welding, an offline visual measurement method is employed to inspect the workpiece to be welded. The acquired images are processed through composition morphological filtering and Euclidean distance transform. Using the differential method, the groove position information is extracted. Subsequently, grouping averaging and interpolation methods are employed to obtain complete welding trajectory data, which is then transmitted to the lower-level controller for automated welding. Ultimately, a uniformly formed weld seam free from defects such as porosity and underfill is achieved.

关键词

激光视觉焊缝跟踪图像处理焊缝轨迹离线规划

Keywords

laser visionweld seam trackingimage processingweld seam trajectoriesoffline planning

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