基于被动视觉的焊缝错边研究

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英文篇名：Research on Weld Seam Misalignment Based on Passive Vision 作者：朱彦军 ; 吴志生 ; 王安红 ; 厉雷钧 ; 尹国利 英文作者：ZHU Yanjun;WU Zhisheng;WANG Anhong;LI Leijun;YIN Guoli;College of Materials Science and Engineering, Taiyuan University of Science and Technology;Canadian Centre for Welding and Joining, University of Alberta;Jinzhong Fengyi Machinery Ltd., Co.; 关键词：错边 ; 熔池图像 ; 特征参数 ; 缺陷检测 英文关键词：misalignment;;molten pool image;;characteristic parameter;;defect detection 中文刊名：SJGY 英文刊名：Hot Working Technology 机构：太原科技大学材料科学与工程学院;加拿大阿尔伯塔大学加拿大国家焊接中心;晋中丰亿机械有限公司; 出版日期：2019-05-14 15:25 出版单位：热加工工艺 年：2019 期：v.48;No.511 基金：山西省应用基础研究项目(201601D011036);山西省应用基础研究项目(201801D121082);; 山西省研究生联合培养基地人才培养项目(2017JD30) 语种：中文; 页：SJGY201909063 页数：5 CN：09 ISSN：61-1133/TG 分类号：228-231+234

摘要

在弧焊机器人焊接过程中能实时、准确、自动地检测焊缝错边是高质量自动焊接的基础。针对熔化极气体保护焊熔池图像特征,提出了一种实时的焊缝错边检测方法。首先,搭建了基于工业相机的单目被动视觉熔池图像采集系统,系统包括复合滤光系统、相机外触发系统、图像采集软件,采集到清晰的熔池图像;其次,提出利用图像平均灰度值判断弧光对熔池图像的干扰程度;再次,采用最大类间﹑类内方差比法提取出熔池轮廓;最后,根据熔池轮廓特征定义了反映焊接错边信息的特征参数Z/C与β/γ。参考焊接工艺规程(JB/T 9186-1999)设计了焊接试验。结果表明,熔池轮廓提取算法合理,熔池轮廓特征参数能反映焊接错边,能为基于视觉的焊接错边在线监测提供技术支持。
        Real-time, accurate and automatic detection of weld seam misalignment in the arc welding robot welding process is the basis of high quality automatic welding. Aiming at the image characteristics of molten pool in gas metal arc welding(GMAW), a real-time detection method for weld seam misalignment was proposed. Firstly, a monocular passive vision molten pool image acquisition system based on industrial cameras was built, the system includes compound filter system,triggering system outside the camera and image acquisition software, and the system could capture a clear molten pool image.Secondy, it is proposed that the arerage gray value of the image is used to judge the interference degree of arc light on the molten pool image. Thirdly, the molten pool contour is extracted using an algorithm based on the maximum inter class variance and intra class variance ratio. Finally, the characteristic parameters Z/C and β/γ reflecting the information of welding seam misalignment are defined according to the contour characteristics of molten pool. Based on welding procedure specification(JB/T 9186-1999), the welding test was designed. The results show that the algorithm of molten pool contour extraction is reasonable, and the characteristic parameters of molten pool contour can reflect welding seam misalignment,which can provide technical support for on-line monitoring of welding seam misalignment based on vision.

引文

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