基于网格结构激光的焊缝轮廓高度检测
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摘要
随着自动化焊接技术的发展,焊缝轮廓高度的快速检测越来越重要。针对目前焊缝轮廓人工测量方法主观影响大、检测精度差、检测效率低等缺点,线激光单次投射仅能获得投射线处高度信息,在扫描过程中存在抖动干扰的问题,提出并实现了采用网格激光对焊缝轮廓高度进行快速检测。建立图像采集的软硬件系统,采集网格激光照射下的焊缝图像,通过图像去噪、二值化、骨架细化、毛刺去除等算法提取有效信息,采用三角测量法计算焊缝高度。基于LabVIEW实现了上述算法,建立了网格结构激光焊缝轮廓高度快速检测系统。
With the development of automatic welding technology, the rapid detection of weld contour height is becoming more and more important. At present, manual measurement of weld profile has problems, such as subjective influence, poor detection accuracy and low detection efficiency. Only the height information at the projection point can be obtained by using a single line laser projection, and jitter interference occurs in the scanning process. A rapid detection method of weld contour height using grid laser was proposed and implemented. The software and hardware system of image acquisition were established. The weld seam image was captured under grid laser illumination. The effective information is extracted by image denoising, binarization, skeleton thinning and deburring algorithms and then the weld seam height was calculated by the triangulation measurement method. Based on LabVIEW, the algorithm above was implemented, and the weld contour height detection system with grid laser was established.
With the development of automatic welding technology, the rapid detection of weld contour height is becoming more and more important. At present, manual measurement of weld profile has problems, such as subjective influence, poor detection accuracy and low detection efficiency. Only the height information at the projection point can be obtained by using a single line laser projection, and jitter interference occurs in the scanning process. A rapid detection method of weld contour height using grid laser was proposed and implemented. The software and hardware system of image acquisition were established. The weld seam image was captured under grid laser illumination. The effective information is extracted by image denoising, binarization, skeleton thinning and deburring algorithms and then the weld seam height was calculated by the triangulation measurement method. Based on LabVIEW, the algorithm above was implemented, and the weld contour height detection system with grid laser was established.
引文
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[2]林尚杨,陈善本,李成桐.焊接机器人及其应用[M].北京:机械工业出版社,2000.
[3]李概.基于视觉传感管道焊接机器人跟踪系统研究[D].哈尔滨:哈尔滨工业大学,2007.
[4]伏喜斌,林三宝,杨春利,等.基于激光视觉传感的角焊缝外形尺寸检测[J].焊接学报,2008,29(7):47-50.
[5]赵相宾,李亮玉,夏长亮,等.激光视觉焊缝跟踪系统图像处理[J].焊接学报,2006,27(12):42-44.
[6]黄军芬,邹勇,黄继强,等.激光焊缝图像处理算法[J].电焊机,2009,39(4):65-67.
[7]秦筱楲,蔡超,周成平.一种有效的骨架毛刺去除算法[J].华中科技大学学报(自然科学版),2004,32(12):28-31.
[8]LabVIEW User Manual[Z].National Instruments Corporation,2000.
[9]Johnston I A,Jacobs P A.A study of flush airdata system calibration using numerical simulation[R].Brisbane,The University of Queensland,1998.
[2]林尚杨,陈善本,李成桐.焊接机器人及其应用[M].北京:机械工业出版社,2000.
[3]李概.基于视觉传感管道焊接机器人跟踪系统研究[D].哈尔滨:哈尔滨工业大学,2007.
[4]伏喜斌,林三宝,杨春利,等.基于激光视觉传感的角焊缝外形尺寸检测[J].焊接学报,2008,29(7):47-50.
[5]赵相宾,李亮玉,夏长亮,等.激光视觉焊缝跟踪系统图像处理[J].焊接学报,2006,27(12):42-44.
[6]黄军芬,邹勇,黄继强,等.激光焊缝图像处理算法[J].电焊机,2009,39(4):65-67.
[7]秦筱楲,蔡超,周成平.一种有效的骨架毛刺去除算法[J].华中科技大学学报(自然科学版),2004,32(12):28-31.
[8]LabVIEW User Manual[Z].National Instruments Corporation,2000.
[9]Johnston I A,Jacobs P A.A study of flush airdata system calibration using numerical simulation[R].Brisbane,The University of Queensland,1998.