CN105571502B - The measurement method of weld gap in Friction Stir Welding - Google Patents
The measurement method of weld gap in Friction Stir Welding Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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Abstract
The present invention provides a kind of measurement methods of weld gap in Friction Stir Welding, comprising the following steps: S1, obtains stir friction welding seam gap area image information；S2, image preprocessing is carried out to image；S3, the marginal information that laser stripe is extracted using edge detection algorithm；The selection of S4, adaptive area-of-interest；S5, the center line that laser stripe is extracted using improved gravity model appoach；S6, weld gap information is obtained by the profile and center line information of laser stripe.The present invention is that subsequent boots stir friction welding process lays the foundation.
Description
Technical field
The present invention relates to vision detection technology and Friction Stir Welding processing technique fields, and in particular, to a kind of stirring
The measurement method of weld gap in friction welding.
Background technique
Friction Stir Welding (FSW) be used as a kind of solid phase joining technique, because with it is at low cost, welding deformation is small, quality is high,
The advantages that short time limit, becomes the development trend of space industry tank manufacturing process welding procedure.However due to the welding of the technology
Feature, permitted weld gap and unfitness of butt joint are respectively less than 0.2mm, and measurement accuracy is ± 0.05mm, and by stirring-head parameter,
Welding condition, which chooses the factors such as improper, to be influenced, and inevitably can generate such as hole, groove, lack of penetration, overlap in welding process
And the welding defects such as Z-line.To guarantee welding quality, welding equipment is improved to the adaptability and weldering of weld shape change in location
The automatization level of control is connect, actual seam center must be measured before welding or in welding process, to reduce weldering
Ratio of defects is connect, Product jointing quality is improved.
Since stir friction welding seam feature is small, measurement accuracy requires high.Currently, utilizing the light sources such as laser and video camera
Visual sensing system is constituted, by laser projection to welded seam area, the image of CCD camera shooting workpiece surface is simultaneously handled,
The vision measurement technology that body surface three-dimensional information can be accurately acquired has become the main method of weld seam detection and tracking.Due to
Stir friction welding seam feature is small, and measurement accuracy requires high.But existing vision-based detection product can only be detected mostly between weld seam
The biggish feature of gap, is not suitable for the detection of stir friction welding seam feature.For example, the Ji Enshi laser of model LJ-V7080
Measuring instrument carries out the measurement experiment of multiplicating property to different size of weld gap, it is found that the equipment is only greater than in weld gap
When 0.7mm, stable characteristics of weld seam could be obtained, and measurement accuracy is only ± 0.1mm.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of surveys of weld gap in Friction Stir Welding
Amount method, this method can in a measurement position, realize the quick, accurate of weld gap three-dimensional coordinate and width information and from
It is dynamic to extract, to obtain the center location information of weld seam, lay the foundation for subsequent boots stir friction welding process.
In order to achieve the above object, the present invention provides a kind of measurement method of weld gap in Friction Stir Welding, the side
Method includes the following steps:
S1, the image for obtaining weld gap region；
S2, image preprocessing is carried out to the image that S1 is obtained, obtains pretreated laser stripe image；
Laser stripe image is believed using the edge that edge detection algorithm extracts laser stripe after S3, the pretreatment obtained to S2
Breath；
S4, the selection that adaptive area-of-interest is carried out to the laser stripe marginal information that S3 is obtained；
S5, the center line for improving gravity model appoach extraction laser stripe is utilized to the final area-of-interest that S4 is obtained；
The center line information that S6, the laser stripe marginal information obtained by S3 and S5 are obtained obtains weld gap information.
Preferably, in the S1:
One laser plane is projected using laser line generator, is crossed to form a laser stripe, and laser with workpiece surface
Striped intersects with weld gap；CCD camera is installed vertically on the surface of weld gap, shoots laser stripe image.
Preferably, in the S2:
The laser stripe image that S1 is obtained is pre-processed, the setting of initial area-of-interest and adaptive is respectively included
Carrying out image threshold segmentation improves the efficiency of subsequent image processing and reduces noise jamming.
Preferably, in the S3:
To the pretreated laser stripe image that S2 is obtained, carried out at edge detection using Canny edge detection algorithm
Reason, extracts the marginal information of laser stripe；Including 2-d gaussian filters processing, gradient calculating, the non-maximum restraining of gradient and company
Connect marginal point.Further, specific:
First, the pretreated laser stripe image obtained to S2 carries out convolution algorithm, to eliminate white noise；
Secondly, to each pixel in filtered image, its gradient magnitude and direction are calculated by single order partial differential；
Furthermore edge detection is carried out using non-maximum restraining principle, obtains the marginal point of laser stripe；
Finally, marginal point is connected.
Preferably, in the S4:
To the laser stripe marginal information that S3 is obtained, the minimum circumscribed rectangle at the edge is searched, to obtain final sense
Interest region.
Preferably, in the S5:
In the final area-of-interest that S4 is obtained, the sub-pixel detection at laser stripe center is carried out using improvement gravity model appoach,
Including extracting laser stripe center, boundary intensity threshold value and accurate center extraction roughly；Further, specific:
First, it is ranked up according to the sum of the gray value of three pixels of each column, selects the maximum pixel of the sum of gray value
Point position is as rough laser stripe center；
Secondly, the average gray of each column pixel is calculated, and the pixel that gray value is greater than average gray is carried out
Quadratic average rejects the pixel for being less than boundary intensity threshold value as boundary intensity threshold value；
Finally, using gray value as weight, pixel coordinate where gray value is corresponding position, realizes accurately mentioning for laser stripe
It takes.
Preferably, in the S6:
To the obtained laser stripe marginal information of S3 and S5 and center line, carries out the organic of two and three dimensions visual information and melt
It closes, and CCD camera, laser plane and motion state is demarcated, the intersection point of laser stripe center line and laser stripe profile
The as boundary of weld gap, the distance between two weld gap boundaries is the width of weld gap, to realize agitating friction
In welding process weld gap it is quick, accurate, automatically extract.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The method of the invention can realize the fast of weld gap three-dimensional coordinate and width information in a measurement position
It is speed, accurate and automatically extract, to obtain the center location information of weld seam, base is established for subsequent boots stir friction welding process
Plinth.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the method flow diagram of one embodiment of the invention；
Fig. 2 is the weld measurement apparatus structure schematic diagram of one embodiment of the invention；
Fig. 3 is the welded seam area initial data schematic diagram of one embodiment of the invention；
Fig. 4 a is the initial area-of-interest schematic diagram of image preprocessing of one embodiment of the invention；
Fig. 4 b is the image preprocessing adapting to image Threshold segmentation schematic diagram of one embodiment of the invention；
Fig. 5 is that the edge detection algorithm of one embodiment of the invention extracts laser stripe marginal information schematic diagram；
Fig. 6 is that the adaptive area-of-interest of one embodiment of the invention selects schematic diagram；
Fig. 7 is that the improvement gravity model appoach of one embodiment of the invention extracts laser stripe center line schematic diagram；
Fig. 8 is the boundary point schematic diagram of the weld gap of one embodiment of the invention；
In figure: CCD camera 1, camera lens 2, optical filter 3, linear light source laser 4, workpiece for measurement 5.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, the present embodiment provides a kind of measurement method of weld gap in Friction Stir Welding, specific implementation benefit
It is carried out with weld measurement device, which includes CCD camera 1, camera lens 2, optical filter 3, linear light source laser 4 and work to be measured
Part 5, as shown in Figure 2.
Described method includes following steps:
S1, the image for obtaining weld gap region:
One laser plane is projected using laser line generator, is crossed to form a laser stripe, and laser with workpiece surface
Striped intersects with weld gap；CCD camera is installed vertically on the surface of weld gap, shoots laser stripe image.
Weld measurement device is mounted on Five-axis NC Machining Center, 5 clamping of workpiece for measurement on processing platform；Butt welding before measuring
Seam measuring device is demarcated, and calibration includes the calibration of the inside and outside parameter of CCD camera 1,4 laser plane equation of linear light source laser
Calibration and weld measurement device and processing platform relative motion position calibration；When measurement, processing platform is with the edge 630mm/min
X-direction it is mobile when, weld measurement device acquires the laser stripe image in weld gap region in real time, as shown in figure 3, and passing
Transport to computer.
S2, image preprocessing is carried out to image:
1. the setting of initial area-of-interest
The weld image that step S1 is obtained sets initial area-of-interest, in one embodiment, can protect altogether herein
30326 pixels have been stayed, compared to 1920000 pixels of original image, have greatly improved effect for subsequent image processing
Rate, as shown in fig. 4 a；
2. adapting to image Threshold segmentation
As shown in figure 3, laser stripe disconnects at weld gap, it is bright that light-colored part (i.e. research object) is known as image
Domain, dark parts (i.e. face of weld entity) are known as the dark domain of image；Image segmentation can divide the image into several specific areas
Domain (specific region refers to the threshold range according to needed for image procossing herein, and the bright domain of image and the dark regional partition of image are opened),
And extract interesting target (the bright domain of image)；Wherein, simple, operation efficiency is higher, speed with calculating for carrying out image threshold segmentation
Fast advantage；And in practical application, corresponding variation can occur because of factors such as illumination conditions for the gray value of image, then using certainly
It adapts to threshold method and is clearly measured target, so-called Adaptive Thresholding is according to maximum gradation value in image and minimum ash
Angle value determines, and the bottom threshold of image is set using empirical value 2/3 as impact factor, and the upper threshold of image is silent
255 are thought, to realize the segmentation in the bright domain of image and the dark domain of image, as shown in Figure 4 b.
S3, the marginal information that laser stripe is extracted using edge detection algorithm:
To the pretreated laser stripe image that step S2 is obtained, edge inspection is carried out using Canny edge detection algorithm
Survey processing, extracts the marginal information of laser stripe；It specifically includes:
1. 2-d gaussian filters are handled
Convolution algorithm is carried out to the image that step S2 is obtained, eliminates white noise；
2. gradient calculates
To each pixel in filtered image, its gradient magnitude and direction are calculated by single order partial differential；
3. the non-maximum restraining of gradient
Edge detection is carried out using non-maximum restraining principle, obtains the marginal point of laser stripe；
4. connecting marginal point
According to above-mentioned Threshold segmentation and filtering processing, and the non-maximum restraining of gradient is combined to pick image edge information
It removes and supplements, marginal information point, which is connected, can be obtained laser stripe profile, as shown in Figure 5；As seen from the figure, laser stripe
Boundary and toe of the weld are shown as white contours, and other information is shielding for black.
The selection of S4, adaptive area-of-interest:
To the laser stripe marginal information that step S3 is obtained, the minimum circumscribed rectangle at the edge is searched, to obtain final
Area-of-interest, greatly improve subsequent image processing efficiency, Fig. 6 be adaptive area-of-interest.
S5, the center line that laser stripe is extracted using heart method:
In the final area-of-interest that step S4 is obtained, mentioned using the sub-pix that gravity model appoach carries out laser stripe center
It takes；It specifically includes:
1. extracting laser stripe center roughly
It is ranked up according to the sum of the gray value of three pixels of each column, selects the maximum pixel position of the sum of gray value
As rough laser stripe center；
2. boundary intensity threshold value
The average gray of each column pixel is calculated, and the pixel that gray value is greater than average gray is subjected to secondary put down
, as boundary intensity threshold value, the pixel for being less than boundary intensity threshold value is rejected；
3. accurate central point extracts
Finally, being corresponding position by pixel coordinate where weight, gray value of gray value, accurately mentioning for laser stripe is realized
It takes, as shown in Figure 7.
S6, weld gap information is obtained by the profile and center line information of laser stripe:
The laser stripe center line that the laser stripe marginal information (i.e. laser stripe profile) and S5 obtained by S3 obtains,
Seeking the two intersection point is the boundary point of weld gap, as shown in Figure 8；According to measure before CCD camera 1, linear light source laser 4 swash
Optical plane and weld measurement device and the calibrating parameters of processing platform relative motion position are welded with principle of triangulation
The three-dimensional coordinate and gap width of gap boundary point.
The method of the invention is used for the On-line testing of stir friction welding seam information, and wherein image procossing is schemed in OpenCV
As carrying out in processing software, Data Management Analysis carries out in C++ software systems, and characteristic information is shown in the interface MFC.
The method of the invention can realize the fast of weld gap three-dimensional coordinate and width information in a measurement position
It is speed, accurate and automatically extract, to obtain the center location information of weld seam, base is established for subsequent boots stir friction welding process
Plinth.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (4)
1. the measurement method of weld gap in a kind of Friction Stir Welding, which is characterized in that described method includes following steps:
S1, the image for obtaining weld gap region；
In the S1: a laser plane is projected using laser line generator, is crossed to form a laser stripe with workpiece surface,
And laser stripe intersects with weld gap；CCD camera is installed vertically on the surface of weld gap, shoots laser stripe image；
S2, image preprocessing is carried out to the image that S1 is obtained, obtains pretreated laser stripe image；
Laser stripe image extracts the marginal information of laser stripe using edge detection algorithm after S3, the pretreatment obtained to S2；
In the S3: the pretreated laser stripe image obtained to S2 carries out edge using Canny edge detection algorithm
Detection processing extracts the marginal information of laser stripe；
Described to carry out edge detection process using Canny edge detection algorithm, concrete processing procedure includes at 2-d gaussian filters
Reason, gradient calculating, the non-maximum restraining of gradient and connection marginal point:
Firstly, convolution algorithm is carried out, to eliminate white noise to the pretreated laser stripe image that S2 is obtained；
Secondly, calculating its gradient magnitude and direction by single order partial differential to each pixel in filtered image；
Furthermore edge detection is carried out using non-maximum restraining principle, obtains the marginal point of laser stripe；
Finally, connection marginal point；
S4, the selection that adaptive area-of-interest is carried out to the laser stripe marginal information that S3 is obtained；
S5, the center line for improving gravity model appoach extraction laser stripe is utilized to the final area-of-interest that S4 is obtained；
In the S5: carrying out the sub-pixel detection at laser stripe center using gravity model appoach is improved, including extract laser strip roughly
Line center, boundary intensity threshold value and accurate center extraction；
The sub-pixel detection that laser stripe center is carried out using improvement gravity model appoach, specifically:
Firstly, being ranked up according to the sum of the gray value of three pixels of each column, the maximum pixel point of the sum of gray value is selected
It sets as rough laser stripe center；
Secondly, calculating the average gray of each column pixel, and the pixel progress that gray value is greater than average gray is secondary
It is average, as boundary intensity threshold value, reject the pixel for being less than boundary intensity threshold value；
Finally, pixel coordinate is corresponding position where gray value using gray value as weight, the accurate extraction of laser stripe is realized；
S6, weld gap information is obtained by the marginal information of laser stripe and the center line information of S5 of S3；
In the S6: to the obtained laser stripe marginal information of S3 and S5 and center line, carrying out two and three dimensions visual information
Organically blend, and CCD camera, laser plane and motion state are demarcated, laser stripe center line and laser stripe side
The intersection point of edge information is the boundary of weld gap, and the distance between two weld gap boundaries is the width of weld gap, thus
Realize stir friction welding process in weld gap it is quick, accurate, automatically extract.
2. the measurement method of weld gap in a kind of Friction Stir Welding according to claim 1, which is characterized in that described
S2 in: image preprocessing includes setting and the adapting to image Threshold segmentation of initial area-of-interest.
3. the measurement method of weld gap in a kind of Friction Stir Welding according to claim 1, which is characterized in that described
S4 in: the laser stripe marginal information obtained to S3 searches the minimum circumscribed rectangle at the edge, so that it is emerging to obtain final sense
Interesting region.
4. the measurement method of weld gap, feature in a kind of Friction Stir Welding according to claim 1-3
It is, the method is used for the On-line testing of stir friction welding seam information, and wherein image procossing is soft in OpenCV image procossing
It is carried out in part, Data Management Analysis carries out in C++ software systems, and characteristic information is shown in the interface MFC.
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