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CN114211164A - A seam tracking control method for a seam tracking system of an underwater welding robot - Google Patents

A seam tracking control method for a seam tracking system of an underwater welding robot Download PDF

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CN114211164A
CN114211164A CN202111598415.XA CN202111598415A CN114211164A CN 114211164 A CN114211164 A CN 114211164A CN 202111598415 A CN202111598415 A CN 202111598415A CN 114211164 A CN114211164 A CN 114211164A
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welding
weld
image
underwater
structured light
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陈然
王琪皓
张韵
朱影
任嘉煜
孙晓莹
乔德蓉
陈恺睿
言淳恺
袁银龙
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Nantong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
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Abstract

本发明提供了一种水下焊接机器人焊缝跟踪系统的焊缝跟踪控制方法，首先搭建水下焊接跟踪系统，采用的激光器发射线结构光，水下摄像机采集线结构光图像，并通过Laplace算子和线性模板匹配方法获得激光条纹线结构光中心线，采用结构光扫描方法对焊接起始点进行识别和定位；最后采用循环队列的顺序存储线结构光焊缝中线点坐标，实现焊缝的跟踪。本发明的有益效果为：利用激光条纹绿色的特征从绿色通道进行目标区域的划分，提高了目标区域划分的准确性；利用数字图像处理技术，包括暗通道方法、二值化过程以及线性模板匹配方法等，在保证识别准确率的条件下，提高了训练结果的准确性，检测原理简单，检测速度较快，跟踪效果较准确。

Figure 202111598415

The invention provides a welding seam tracking control method of a welding seam tracking system of an underwater welding robot. First, an underwater welding tracking system is built, a laser is used to emit line structured light, an underwater camera collects a line structured light image, and the Laplace calculation method is used to calculate the line structure light image. The laser stripe line structured light centerline is obtained by the sub- and linear template matching method, and the welding starting point is identified and located by the structured light scanning method. Finally, the sequence of the circular queue is used to store the centerline point coordinates of the line structured light weld to realize the tracking of the weld. . The beneficial effects of the invention are as follows: the target area is divided from the green channel by using the green feature of the laser stripe, and the accuracy of the target area division is improved; the digital image processing technology is used, including the dark channel method, the binarization process and the linear template matching. Under the condition of ensuring the recognition accuracy, the accuracy of the training results is improved, the detection principle is simple, the detection speed is faster, and the tracking effect is more accurate.

Figure 202111598415

Description

Welding seam tracking control method of welding seam tracking system of underwater welding robot
Technical Field
The invention relates to the technical field of underwater welding seam tracking control, in particular to a welding seam tracking control method of a welding seam tracking system of an underwater welding robot.
Background
With increasingly frequent foreign economic trade activities in China and continuous and serious loss of marine resources on China's land, people pay more attention to comprehensive utilization of marine resources and comprehensive research and development of seabed renewable energy resources, large-scale ocean cruise ships, seabed petroleum pipelines, drilling construction platforms and the like for promoting the research are more and more, and the planning design and the construction of the large-scale ocean cruise ships, the seabed petroleum pipelines, the drilling construction platforms and the like are very independent of an underwater welding manufacturing technology. The technical basis and the important key for realizing welding automation are the automatic weld seam tracing technology, and the world coordinates of underwater weld seams must be obtained on the premise, which is also the difficulty of welding automation. The visual recognition is taken as a typical representative in a non-contact sensor, and has the advantages of strong adaptability to the working environment, high recognition flexibility and the like, and the underwater weld joint recognition has serious attenuation of underwater light rays and brings great influence on the weld joint recognition and tracking.
How to solve the above technical problems is the subject of the present invention.
Disclosure of Invention
The invention aims to provide a welding seam tracking control method of a welding seam tracking system of an underwater welding robot, and the underwater welding robot is an underwater welding seam tracking control method formed by a laser sensor and is suitable for the underwater welding robot.
The invention is realized by the following measures: a welding seam tracking control method of a welding seam tracking system of an underwater welding robot comprises the following steps:
step one, building an underwater welding tracking system;
step two, extracting the optical central line of the laser stripe line structure;
step three, positioning a welding starting point;
and step four, confirming a welding seam tracking track.
Further, in the first step, the whole underwater welding tracking system mainly comprises a welding gun, a CCD camera, a linear laser and a welding seam 4, wherein the welding gun is mainly used for welding the welding seam, the CCD camera is used for photographing the underwater line structured light, and the linear laser is mainly used for generating the linear structured light.
Further, in the second step, the adopted laser emits line structured light, and an underwater camera collects line structured light images to extract a central line of the weld joint, and the method specifically comprises the following steps:
2-1), first by means of a differential operator:
▽2f (x, y) ═ f (x +1, y) + (x-1, y) + f (x, y +1) + f (x, y-1) -4f (x, y) increases the difference of pixels between domains to obtain an image after Laplace transformation, wherein f (x, y) is an original picture ^ f2f (x, y) is a picture processed by Laplace;
2-2), adopting the formula: i (x, y) ═ f (x, y) + α ∑2f (x, y), overlapping the original image and the Laplace image, and highlighting the edge information of the original image, wherein I (x, y) is the image which finally keeps the original image and enhances the edge, and alpha is an overlapping coefficient;
2-3), making a certain number of welding seam templates, establishing a welding seam template library, and storing a pixel matrix T corresponding to each templateiUsing the formula
Figure BDA0003432203610000021
Calculating the matching degree value corresponding to the position (x, y) in the original image I, wherein x ', y' are the positions of all pixels of the template image, Ti(x ', y') is the pixel value of the template I at the x ', y' position, I (x + x ', y + y') is the pixel value corresponding to the position (x + x ', y + y') in the image I, the larger R (x, y) is, the better the matching degree of the image I with the template at (x, y) is, and the pixel matrix [ I (x + x ', y + y')]{x',y'}The central position of the welding line is the central point of the welding line, so that the welding line identification is completed.
Further, in the third step, the welding starting point is identified and positioned by using a structured light scanning method, which specifically comprises the following steps:
3-1), initializing hardware equipment including a camera and a laser to ensure the normal work of the hardware equipment;
3-2) calculating distance deviation between the welding line and the welding gun by utilizing the welding line coordinate and the welding gun coordinate under a Cartesian coordinate system, resolving motion parameters of the mechanical arm through a robot inverse kinematics theory to obtain motion variables of each joint, controlling each joint to move to change the tail end posture of the mechanical arm, and ensuring that a welding line image is in the central position of a camera;
3-3) identifying the trend of the welding line in the visual field, calculating the space coordinate of the welding line, controlling a mechanical arm to enable the laser to move along the vertical direction of the welding line until the whole welding line is scanned, and determining the coordinate position of the starting point of the welding line.
Further, in the fourth step, the line point coordinates in the line structure are sequentially stored in the circular queue, and the size of the circular queue satisfies
Figure BDA0003432203610000022
F is the sight distance from the current laser center point to the tail end of the welding gun, v is the welding speed, t is the image processing time of each frame, and the advancing direction and the advancing speed of the welding gun are controlled by updating the queue information of the sight distance before the welding gun is updated, so that the tracking of the welding seam is realized.
Compared with the prior art, the invention has the beneficial effects that: (1) the method utilizes the green characteristic of the laser stripes to divide the target area from the green channel, thereby improving the accuracy of dividing the target area; (2) by utilizing the digital image processing technology, including a dark channel method, a binarization process, a linear template matching method and the like, under the condition of ensuring the identification accuracy, the accuracy of a training result is improved, the detection principle is simple, the detection speed is high, and the tracking effect is accurate.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is an overall flowchart of a weld tracking control method of the weld tracking system of the underwater welding robot provided by the invention.
Fig. 2 is a schematic view of an underwater welding tracking system of a weld tracking control method of the weld tracking system of the underwater welding robot provided by the invention.
Fig. 3 is a flowchart of extracting the center of the line laser stripe in the seam tracking control method of the seam tracking system of the underwater welding robot provided by the invention.
Fig. 4 is an original image of a weld joint irradiated by laser stripes in the weld joint tracking control method of the weld joint tracking system of the underwater welding robot provided by the invention.
Fig. 5 is a flowchart of a center line extraction result in the seam tracking control method of the seam tracking system of the underwater welding robot provided by the invention.
Fig. 6 is a flow chart of positioning a welding start point in a weld tracking control method of the weld tracking system of the underwater welding robot provided by the invention.
Fig. 7 is a schematic diagram of a weld tracking circular queue in the weld tracking control method of the weld tracking system of the underwater welding robot provided by the invention.
Wherein the reference numerals are: 1. a welding gun; 2. a CCD camera; 3. a linear laser; 4. and (7) welding seams.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
Example 1
Referring to fig. 1 to 7, the present invention provides a technical solution that a weld tracking control method of a weld tracking system of an underwater welding robot includes the following four steps:
step 1, building an underwater welding tracking system;
step 2, extracting the optical central line of the laser stripe line structure;
step 3, positioning a welding starting point;
and 4, confirming a welding seam tracking track.
As shown in fig. 2, the whole underwater welding tracking system mainly comprises a welding gun 1, a CCD camera 2, a linear laser 3 and a welding seam 4, wherein the welding gun 1 is mainly used for welding the welding seam, the CCD camera 2 is used for photographing underwater line structured light, and the linear laser 2 is mainly used for generating line structured light.
As shown in fig. 3, the adopted laser emits line structured light, and an underwater camera collects line structured light images, as shown in fig. 4, and the extraction of the center line of the weld is completed by the following steps, and the result is shown in fig. 5:
1) firstly, through a differential operator:
▽2f (x, y) ═ f (x +1, y) + (x-1, y) + f (x, y +1) + f (x, y-1) -4f (x, y) increases the difference of pixels between domains to obtain an image after Laplace transformation, wherein f (x, y) is an original picture ^ f2f (x, y) is a picture processed by Laplace;
2) and adopting a formula: i (x, y) ═ f (x, y) + α ∑2f (x, y), overlapping the original image and the Laplace image, and highlighting the edge information of the original image, wherein I (x, y) is the image which finally keeps the original image and enhances the edge, and alpha is an overlapping coefficient;
3) making a certain number of welding seam templates, establishing a welding seam template library, and storing a pixel matrix T corresponding to each templateiUsing the formula
Figure BDA0003432203610000041
Calculating the matching degree value corresponding to the position (x, y) in the original image I, wherein x ', y' are template imagesPosition of each pixel, Ti(x ', y') is the pixel value of the template I at the x ', y' position, I (x + x ', y + y') is the pixel value corresponding to the position (x + x ', y + y') in the image I, the larger R (x, y) is, the better the matching degree of the image I with the template at (x, y) is, and the pixel matrix [ I (x + x ', y + y')]{x',y'}The central position of the welding line is the central point of the welding line, so that the welding line identification is completed.
The adopted laser emits line structured light, an underwater camera collects line structured light images as shown in fig. 4, sharpening is carried out through a Laplace operator, image edge information is enhanced, and finally a laser streak line structured light center line is obtained through a linear template matching method as shown in fig. 5.
As shown in fig. 6, the method for identifying and positioning the welding start point by using the structured light scanning method specifically includes the following steps:
1) initializing hardware equipment including a camera and a laser to ensure normal operation of the hardware equipment;
2) calculating distance deviation between a welding line and a welding gun by using a welding line coordinate and a welding gun coordinate under a Cartesian coordinate system, resolving motion parameters of a mechanical arm through a robot inverse kinematics theory to obtain motion variables of each joint, controlling each joint to move to change the tail end posture of the mechanical arm, and ensuring that a welding line image is in the central position of a camera;
3) and identifying the trend of the welding seam in the visual field, calculating the space coordinate of the welding seam, controlling a mechanical arm to enable the laser to move along the vertical direction of the welding seam until the whole welding seam is scanned, and determining the coordinate position of the starting point of the welding seam.
Because structured light projected by the optical vision sensor has a certain forward-looking distance with the tail end of the welding gun, the track point coordinates acquired by the sensor cannot be used immediately in the tracking process, the invention adopts a circular queue to sequentially store the line structure central line point coordinates of the optical welding seam, and the size of the circular queue meets the requirement of the circular queue
Figure BDA0003432203610000042
Wherein F is the sight distance from the current laser central point to the tail end of the welding gun, v is the welding speed, and t is the image processing time of each frameAnd the advancing direction and speed of the welding gun are controlled by updating the queue information of the front sight distance, so that the tracking of the welding seam is realized.
As shown in fig. 7, S is a welding seam, a point p is a current welding gun point, l is a straight line formed by the projection of the structured light on the welding plate, and intersects with S at a point p', the point is collected to enter the tail end of the welding tracking queue, and the direction of v is the current moving direction of the tail end of the manipulator, and the direction points to the next point in the tracking queue. During welding, the robot tip will move in the direction v, at which point the weld has left the center of the field of view, and continuing to move in the direction v will cause p' to leave the measurement volume for the structured light.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (5)

1.一种水下焊接机器人焊缝跟踪系统的焊缝跟踪控制方法，其特征在于，包括以下步骤：1. a seam tracking control method of an underwater welding robot seam tracking system, is characterized in that, comprises the following steps: S1、搭建水下焊接跟踪系统；S1. Build an underwater welding tracking system; S2、激光条纹线结构光中心线提取；S2, laser stripe line structured light centerline extraction; S3、焊接起始点定位；S3, welding starting point positioning; S4、焊缝跟踪轨迹的确认。S4. Confirmation of the welding seam tracking track. 2.根据权利要求1所述的水下焊接机器人焊缝跟踪系统的焊缝跟踪控制方法，其特征在于，所述步骤S1中，整个水下焊接跟踪系统主要由焊枪、CCD相机、线形激光器、焊缝四个部分组成，焊枪用于完成对焊缝的焊接工作，CCD相机用于对水下线结构光进行拍照，线形激光器用来产生线结构光。2. the seam tracking control method of underwater welding robot seam tracking system according to claim 1, is characterized in that, in described step S1, whole underwater welding tracking system is mainly composed of welding torch, CCD camera, linear laser, The welding seam consists of four parts, the welding torch is used to complete the welding work of the welding seam, the CCD camera is used to take pictures of the underwater line structured light, and the line laser is used to generate the line structured light. 3.根据权利要求1所述的水下焊接机器人焊缝跟踪系统的焊缝跟踪控制方法，其特征在于，所述步骤S2中，采用的激光器发射线结构光，通过水下摄像机采集线结构光图像，提取焊缝中心线，具体包含如下步骤：3. The seam tracking control method of the underwater welding robot seam tracking system according to claim 1, is characterized in that, in described step S2, the laser that adopts emits line structured light, and collects line structured light by underwater camera image, and extract the centerline of the weld, which includes the following steps: S2-1)、首先通过微分算子：S2-1), first through the differential operator:
Figure FDA0003432203600000011
增加领域间像素的差值，得到Laplace变换后的图像，其中f(x,y)为原始图片，
Figure FDA0003432203600000012
为Laplace处理后的图片；
Figure FDA0003432203600000011
Increase the difference between the pixels between the fields to get the Laplace transformed image, where f(x,y) is the original image,
Figure FDA0003432203600000012
The image processed for Laplace; S2-2)、采用公式：
Figure FDA0003432203600000013
把原图像和Laplace图像进行叠加，凸显原始图像的边缘信息，其中I(x,y)为最终保持原图像并且增强边缘的图像，α为叠加系数；S2-2), using the formula:
Figure FDA0003432203600000013
Superimpose the original image and the Laplace image to highlight the edge information of the original image, where I(x,y) is the image that finally maintains the original image and enhances the edge, and α is the superposition coefficient; S2-3)、制作一定数量的焊缝模板，建立焊缝模板板库，存储每个模板对应的像素矩阵Ti，利用公式
Figure FDA0003432203600000014
计算原始图像I中位置(x,y)对应的匹配度值,其中x',y'为模板图像各个像素的位置，Ti(x',y')为模板i在x',y'位置处的像素值，I(x+x',y+y')为图像I中位置(x+x',y+y')对应的像素值，R(x,y)越大，则表明图像I在(x,y)处与模板匹配度越好，最大的模板匹配度值对应的像素矩阵[I(x+x',y+y')]{x',y'}的中心位置为焊缝中心点，以此完成焊缝识别。S2-3), make a certain number of weld templates, establish a weld template library, store the pixel matrix T i corresponding to each template, and use the formula
Figure FDA0003432203600000014
Calculate the matching degree value corresponding to the position (x, y) in the original image I, where x', y' is the position of each pixel of the template image, T i (x', y') is the template i at the x', y' position The pixel value at the location, I(x+x', y+y') is the pixel value corresponding to the position (x+x', y+y') in the image I, the larger the R(x, y), the more the image The better I match the template at (x,y), the center position of the pixel matrix [I(x+x',y+y')] {x',y'} corresponding to the maximum template matching degree value is Weld center point to complete weld identification. 4.根据权利要求1所述的水下焊接机器人焊缝跟踪系统的焊缝跟踪控制方法，其特征在于，所述步骤S3中，采用结构光扫描方法对焊接起始点进行识别和定位，具体包含如下步骤：4. the welding seam tracking control method of the underwater welding robot seam tracking system according to claim 1, is characterized in that, in described step S3, adopts structured light scanning method to identify and locate the welding starting point, specifically comprising Follow the steps below: S3-1)、初始化硬件设备，包括相机和激光器，确保其正常工作；S3-1), initialize hardware devices, including cameras and lasers, to ensure that they work normally; S3-2)、利用笛卡尔坐标系下焊缝坐标和焊枪坐标计算焊缝与焊枪之间的距离偏差，通过机器人逆运动学理论解算机械臂运动参数，得到各关节运动变量，控制各关节移动改变机械臂末端姿态，确保焊缝图像处于相机中央位置；S3-2), use the coordinates of the welding seam and the welding gun in the Cartesian coordinate system to calculate the distance deviation between the welding seam and the welding gun, solve the motion parameters of the manipulator through the robot inverse kinematics theory, obtain the motion variables of each joint, and control each joint Move to change the posture of the end of the manipulator to ensure that the weld image is in the center of the camera; S3-3)、识别视野中焊缝走向，计算焊缝空间坐标，控制机械臂使得激光沿着焊缝垂直方向移动，直至扫描完成整个焊缝，确定焊缝起始点坐标位置。S3-3), identify the direction of the weld in the field of vision, calculate the spatial coordinates of the weld, and control the robotic arm to move the laser along the vertical direction of the weld until the entire weld is scanned, and the coordinate position of the starting point of the weld is determined. 5.根据权利要求1所述的水下焊接机器人焊缝跟踪系统的焊缝跟踪控制方法，其特征在于，所述步骤S4中，循环队列的顺序存储线结构光焊缝中线点坐标，并且循环队列的大小满足
Figure FDA0003432203600000021
其中，F为当前激光中心点到焊枪末端的视距，v为焊接速度，t为每一帧图像处理的时间，通过更新前视距的队列信息控制焊枪前进的方向和速度，实现焊缝的跟踪。5. the seam tracking control method of the underwater welding robot seam tracking system according to claim 1, is characterized in that, in described step S4, the order of circulation queue stores line structure light weld centerline point coordinates, and circulation The size of the queue satisfies
Figure FDA0003432203600000021
Among them, F is the sight distance from the current laser center point to the end of the welding torch, v is the welding speed, and t is the processing time of each frame of image. track.
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Cited By (3)

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CN115026384A (en) * 2022-07-29 2022-09-09 中国科学院合肥物质科学研究院 Laser vision guided moving steel pipe bundle welding device and arc starting control method
CN115682947A (en) * 2022-09-28 2023-02-03 西咸新区大熊星座智能科技有限公司 Weld seam scanning tracking processing method
CN115846868A (en) * 2022-11-26 2023-03-28 李氏明进(佛山)新材料科技有限公司 Door and window laser welding method and system with welding seam tracking function

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