wherein (R, t) is a transformation matrix, R is a rotation matrix, t is a translation vector, w_i As a weight of each point, p_i To detect the ith point in the three-dimensional model, q_i And the ith point in the new three-dimensional image model is represented by i, i is 1,2 … n, n is the number of points in the detected three-dimensional model, and argmin represents the value of the corresponding independent variable when the function takes the minimum value.

The invention provides an automatic welding system based on computer vision, comprising:

the acquisition module acquires welding positions and welding parameters in a database of the welding control system;

the positioning point determining module is used for determining a welding positioning point on the welding workpiece corresponding to the welding position by adopting a computer vision technology;

and the automatic welding module adopts an automatic welding technology to perform automatic welding at the determined welding positioning points based on the welding parameters.

Preferably, the positioning point determining module includes:

moving the sub-module, and moving the automatic welding equipment to a welding position;

the computer vision system is arranged on the automatic welding equipment and used for acquiring image information of a welding position and analyzing the acquired image information to obtain a welding positioning point on a welding workpiece;

the judgment optimization submodule judges whether the welding positioning point is a given welding position, and if not, the welding positioning point is set to be the optimized welding position;

and the storage submodule is used for replacing the original welding position with the optimized welding position and storing the optimized welding position into a database of the control system.

Preferably, the computer vision system comprises:

the computer vision system carries out integration splicing calculation on the acquired image information to form a three-dimensional image model of the position to be welded and outputs a first coordinate parameter of the position to be welded in the three-dimensional image model; the position to be welded is the same as or different from the welding position;

the first welding positioning point setting submodule sets a first coordinate parameter of the position to be welded as a first welding positioning point;

the second welding positioning point setting submodule moves the position of the computer vision system, acquires new image information after the position is adjusted again, performs integration and splicing calculation on the new image information to form a new three-dimensional image model of the position to be welded, and outputs a second coordinate parameter of the position to be welded in the new three-dimensional image model; setting the second coordinate parameter as a second welding positioning point;

the distance calculation submodule is used for calculating a first distance between the first coordinate parameter and the welding position acquired from the database and calculating a second distance between the second coordinate parameter and the welding position acquired from the database;

determining a submodule, judging the relation between the first distance and the second distance, and setting the first welding positioning point as a welding positioning point on the welding workpiece if the first distance is smaller than the second distance; and if the first distance is greater than the second distance, setting the second welding positioning point as a welding positioning point on the welding workpiece.

Preferably, the method further comprises the following steps:

the detection module is used for acquiring images of a welding part by adopting a computer vision system after welding is finished, forming a welding quality detection image set based on the images and constructing a detection three-dimensional model based on the welding quality detection image set;

the detection optimization module is used for determining welding quality based on the detection three-dimensional model, wherein the welding quality comprises whether a welding displacement phenomenon exists at a welding position, and the welding displacement phenomenon is caused by the fact that a welding positioning point and an actual welding point of a workpiece cannot be completely butted; and if the welding displacement phenomenon exists, determining an actual welding point based on the detection three-dimensional model, and replacing the coordinate parameter of the actual welding point with the welding position in the database.

Preferably, the determining the welding quality based on the detection three-dimensional model in the detection optimization module comprises:

the initial comparison submodule is used for carrying out model initial comparison on the detected three-dimensional model and a new three-dimensional image model of the position to be welded by adopting a normal distribution transformation algorithm and carrying out comparison on the basis of normal distribution of multi-dimensional variables of the model;

the accurate comparison submodule adopts an iterative closest point algorithm to perform accurate comparison after the initial comparison is finished;

the matrix calculation submodule is used for calculating the distance between the minimum two points in the optimal theory to obtain a corresponding transformation matrix, determining a rotation matrix based on the transformation matrix, and determining the comparison result of the detection three-dimensional model and the closest point in the new three-dimensional image model of the position to be welded based on the rotation matrix; and determining the welding quality based on the comparison result.

Compared with the prior art, the invention has the following advantages:

the invention provides an automatic welding method and system based on computer vision, wherein the method comprises the following steps: acquiring welding positions and welding parameters in a database of a welding control system; determining a welding positioning point on a welding workpiece corresponding to the welding position by adopting a computer vision technology; and (4) performing automatic welding at the determined welding positioning points based on the welding parameters by adopting an automatic welding technology. The method can overcome the condition that welding fails due to inaccurate positioning points in the automatic welding process, and accurately obtains the target position to be welded by adopting a computer vision technology, thereby improving the success rate of welding.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

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. In the drawings:

FIG. 1 is a flow chart of a computer vision based automated welding method in an embodiment of the present invention;

FIG. 2 is a flowchart of a method for a computer vision system to obtain a welding location point on a welded workpiece according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an automatic welding system based on computer vision according to an embodiment of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The embodiment of the invention provides an automatic welding method based on computer vision, and please refer to fig. 1, the method comprises the following steps:

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is to obtain the welding position and the welding parameter in a database of the welding control system; determining a welding positioning point on a welding workpiece corresponding to the welding position by adopting a computer vision technology; and (4) performing automatic welding at the determined welding positioning points based on the welding parameters by adopting an automatic welding technology.

Computer vision is a science for researching how to make a machine "see", and further, it means that a camera and a computer are used to replace human eyes to perform machine vision such as identification, tracking and measurement on a target, and further image processing is performed, so that the computer processing becomes an image more suitable for human eyes to observe or transmitted to an instrument to detect.

Therefore, the scheme provided by the embodiment can overcome the condition that welding fails due to inaccurate positioning points in the automatic welding process, and the position of the target to be welded is accurately obtained by adopting a computer vision technology, so that the success rate of welding is improved.

The beneficial effects of the above technical scheme are: the method comprises the steps of obtaining welding positions and welding parameters in a database of a welding control system by adopting the scheme provided by the embodiment; determining a welding positioning point on a welding workpiece corresponding to the welding position by adopting a computer vision technology; and (4) performing automatic welding at the determined welding positioning point based on the welding parameters by adopting an automatic welding technology. By adopting a computer vision technology, the position of the target to be welded is accurately obtained, so that the success rate of welding is improved.

In another embodiment, the S200 includes:

s201, moving automatic welding equipment to a welding position;

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the automatic welding equipment moves to a welding position; a computer vision system arranged on the automatic welding equipment collects image information of a welding position and analyzes the collected image information to obtain a welding positioning point on a welding workpiece; judging whether the welding positioning point is a given welding position, if not, setting the welding positioning point as the optimized welding position; and replacing the original welding position with the optimized welding position and storing the optimized welding position into a database of the control system.

The beneficial effects of the above technical scheme are: the automatic welding equipment moves to the welding position by adopting the scheme provided by the embodiment; a computer vision system arranged on the automatic welding equipment collects image information of a welding position and analyzes the collected image information to obtain a welding positioning point on a welding workpiece; judging whether the welding positioning point is a given welding position, if not, setting the welding positioning point as the optimized welding position; and replacing the original welding position with the optimized welding position and storing the optimized welding position into a database of the control system.

In another embodiment, referring to fig. 2, the step S202 includes:

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the computer vision system carries out integration splicing calculation on the acquired image information to form a three-dimensional image model of the position to be welded and outputs a first coordinate parameter of the position to be welded in the three-dimensional image model; the position to be welded is the same as or different from the welding position; setting a first coordinate parameter of the position to be welded as a first welding positioning point; moving the position of a computer vision system, re-collecting new image information after adjusting the position, performing integration splicing calculation on the new image information to form a new three-dimensional image model of the position to be welded, and outputting a second coordinate parameter of the position to be welded in the new three-dimensional image model; setting the second coordinate parameter as a second welding positioning point; calculating a first distance between the first coordinate parameter and the welding position obtained from the database, and calculating a second distance between the second coordinate parameter and the welding position obtained from the database; judging the relation between the first distance and the second distance, and setting the first welding positioning point as a welding positioning point on the welding workpiece if the first distance is smaller than the second distance; and if the first distance is greater than the second distance, setting the second welding positioning point as a welding positioning point on the welding workpiece.

The beneficial effects of the above technical scheme are: the computer vision system in the scheme provided by the embodiment is used for integrating, splicing and calculating the acquired image information to form a three-dimensional image model of the position to be welded, and outputting a first coordinate parameter of the position to be welded in the three-dimensional image model; the position to be welded is the same as or different from the welding position; setting a first coordinate parameter of the position to be welded as a first welding positioning point; moving the position of a computer vision system, re-collecting new image information after adjusting the position, performing integration splicing calculation on the new image information to form a new three-dimensional image model of the position to be welded, and outputting a second coordinate parameter of the position to be welded in the new three-dimensional image model; setting the second coordinate parameter as a second welding positioning point; calculating a first distance between the first coordinate parameter and the welding position obtained from the database, and calculating a second distance between the second coordinate parameter and the welding position obtained from the database; judging the relation between the first distance and the second distance, and setting the first welding positioning point as a welding positioning point on the welding workpiece if the first distance is smaller than the second distance; and if the first distance is greater than the second distance, setting the second welding positioning point as a welding positioning point on the welding workpiece.

In another embodiment, the S300 is followed by:

s400, after welding is finished, collecting images of a welding part by using a computer vision system, forming a welding quality detection image set based on the images, and constructing a detection three-dimensional model based on the welding quality detection image set;

The working principle of the technical scheme is as follows: the method adopts the scheme that after welding is finished, a computer vision system is adopted to collect images of a welding part, a welding quality detection image set is formed based on the images, and a detection three-dimensional model is constructed based on the welding quality detection image set; determining welding quality based on the detection three-dimensional model, wherein the welding quality comprises whether a welding displacement phenomenon exists at a welding position, and the welding displacement phenomenon is caused by the fact that a welding positioning point and an actual welding point of a workpiece cannot be completely butted; and if the welding displacement phenomenon exists, determining an actual welding point based on the detection three-dimensional model, and replacing the coordinate parameter of the actual welding point with the welding position in the database.

The beneficial effects of the above technical scheme are: after the welding is finished by adopting the scheme provided by the embodiment, a computer vision system is adopted to collect images of a welding part, a welding quality detection image set is formed based on the images, and a detection three-dimensional model is constructed based on the welding quality detection image set; determining welding quality based on the detection three-dimensional model, wherein the welding quality comprises whether a welding displacement phenomenon exists at a welding position, and the welding displacement phenomenon is caused by the fact that a welding positioning point and an actual welding point of a workpiece cannot be completely butted; and if the welding displacement phenomenon exists, determining an actual welding point based on the detection three-dimensional model, and replacing the coordinate parameter of the actual welding point with the welding position in the database.

In another embodiment, the determining the welding quality based on the detected three-dimensional model in S500 includes:

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the welding quality determination based on the detection three-dimensional model comprises the following steps: carrying out model initial comparison on the detected three-dimensional model and a new three-dimensional image model of the position to be welded by adopting a normal distribution transformation algorithm, and carrying out comparison on the basis of normal distribution of multi-dimensional variables of the model; after the initial comparison is completed, an iterative closest point algorithm is adopted for accurate comparison; calculating the distance between the minimum two points in the optimal theory to obtain a corresponding transformation matrix, determining a rotation matrix based on the transformation matrix, and determining the comparison result of the closest point in the three-dimensional model to be detected and the new three-dimensional image model of the position to be welded based on the rotation matrix; and determining the welding quality based on the comparison result.

The beneficial effects of the above technical scheme are: determining the welding quality based on the detected three-dimensional model by adopting the scheme provided by the embodiment comprises the following steps: carrying out model initial comparison on the detected three-dimensional model and a new three-dimensional image model of the position to be welded by adopting a normal distribution transformation algorithm, and carrying out comparison on the basis of normal distribution of multi-dimensional variables of the model; after the initial comparison is completed, an iterative closest point algorithm is adopted for accurate comparison; calculating the distance between the minimum two points in the optimal theory to obtain a corresponding transformation matrix, determining a rotation matrix based on the transformation matrix, and determining the comparison result of the closest point in the three-dimensional model to be detected and the new three-dimensional image model of the position to be welded based on the rotation matrix; and determining the welding quality based on the comparison result.

In another embodiment, the present embodiment further provides an automatic welding system based on computer vision, referring to fig. 3, the system includes:

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the acquisition module acquires the welding position and the welding parameters in a database of the welding control system; the positioning point determining module is used for determining a welding positioning point on the welding workpiece corresponding to the welding position by adopting a computer vision technology; and the automatic welding module adopts an automatic welding technology to perform automatic welding at the determined welding positioning points based on the welding parameters.

The beneficial effects of the above technical scheme are: the scheme provided by the embodiment is that the acquisition module acquires the welding position and the welding parameters in a database of the welding control system; the positioning point determining module is used for determining a welding positioning point on the welding workpiece corresponding to the welding position by adopting a computer vision technology; and the automatic welding module adopts an automatic welding technology to perform automatic welding at the determined welding positioning points based on the welding parameters.

In another embodiment, the localization point determining module comprises:

The working principle of the technical scheme is as follows: the scheme adopted by this embodiment is that the anchor point determining module includes: moving the sub-module, and moving the automatic welding equipment to a welding position; the computer vision system is arranged on the automatic welding equipment and used for acquiring image information of a welding position and analyzing the acquired image information to obtain a welding positioning point on a welding workpiece; the judgment optimization submodule judges whether the welding positioning point is a given welding position, and if not, the welding positioning point is set to be the optimized welding position; and the storage submodule is used for storing the optimized welding position in the database of the control system instead of the original welding position.

The beneficial effects of the above technical scheme are: the positioning point determining module adopting the scheme provided by the embodiment comprises: moving the sub-module, and moving the automatic welding equipment to a welding position; the computer vision system is arranged on the automatic welding equipment and used for acquiring image information of a welding position and analyzing the acquired image information to obtain a welding positioning point on a welding workpiece; the judgment optimization submodule judges whether the welding positioning point is a given welding position, and if not, the welding positioning point is set to be the optimized welding position; and the storage submodule is used for replacing the original welding position with the optimized welding position and storing the optimized welding position into a database of the control system.

In another embodiment, the computer vision system comprises:

the computer vision system integrates, splices and calculates the acquired image information to form a three-dimensional image model of the position to be welded and outputs a first coordinate parameter of the position to be welded in the three-dimensional image model; the position to be welded is the same as or different from the welding position;

The working principle of the technical scheme is as follows: the present embodiment adopts a scheme that the computer vision system includes: the computer vision system integrates, splices and calculates the acquired image information to form a three-dimensional image model of the position to be welded and outputs a first coordinate parameter of the position to be welded in the three-dimensional image model; the position to be welded is the same as or different from the welding position; the first welding positioning point setting submodule sets a first coordinate parameter of the position to be welded as a first welding positioning point; the second welding positioning point setting submodule moves the position of the computer vision system, acquires new image information after the position is adjusted again, performs integration and splicing calculation on the new image information to form a new three-dimensional image model of the position to be welded, and outputs a second coordinate parameter of the position to be welded in the new three-dimensional image model; setting the second coordinate parameter as a second welding positioning point; the distance calculation submodule is used for calculating a first distance between the first coordinate parameter and the welding position acquired from the database and calculating a second distance between the second coordinate parameter and the welding position acquired from the database; determining a submodule, judging the relation between the first distance and the second distance, and setting the first welding positioning point as a welding positioning point on the welding workpiece if the first distance is smaller than the second distance; and if the first distance is greater than the second distance, setting the second welding positioning point as a welding positioning point on the welding workpiece.

The beneficial effects of the above technical scheme are: the computer vision system adopting the scheme provided by the embodiment comprises: the computer vision system integrates, splices and calculates the acquired image information to form a three-dimensional image model of the position to be welded and outputs a first coordinate parameter of the position to be welded in the three-dimensional image model; the position to be welded is the same as or different from the welding position; the first welding positioning point setting submodule sets a first coordinate parameter of the position to be welded as a first welding positioning point; the second welding positioning point setting submodule moves the position of the computer vision system, acquires new image information after the position is adjusted again, performs integration and splicing calculation on the new image information to form a new three-dimensional image model of the position to be welded, and outputs a second coordinate parameter of the position to be welded in the new three-dimensional image model; setting the second coordinate parameter as a second welding positioning point; the distance calculation submodule is used for calculating a first distance between the first coordinate parameter and the welding position acquired from the database and calculating a second distance between the second coordinate parameter and the welding position acquired from the database; determining a submodule, judging the relation between the first distance and the second distance, and setting the first welding positioning point as a welding positioning point on the welding workpiece if the first distance is smaller than the second distance; and if the first distance is greater than the second distance, setting the second welding positioning point as a welding positioning point on the welding workpiece.

In another embodiment, further comprising:

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment further comprises: the detection module is used for acquiring images of a welding part by adopting a computer vision system after welding is finished, forming a welding quality detection image set based on the images and constructing a detection three-dimensional model based on the welding quality detection image set; the detection optimization module is used for determining welding quality based on the detection three-dimensional model, wherein the welding quality comprises whether a welding displacement phenomenon exists at a welding position, and the welding displacement phenomenon is caused by the fact that a welding positioning point and an actual welding point of a workpiece cannot be completely butted; and if the welding displacement phenomenon exists, determining an actual welding point based on the detection three-dimensional model, and replacing the coordinate parameter of the actual welding point with the welding position in the database.

The beneficial effects of the above technical scheme are: the scheme provided by the embodiment further comprises the following steps: the detection module is used for acquiring images of a welding part by adopting a computer vision system after welding is finished, forming a welding quality detection image set based on the images and constructing a detection three-dimensional model based on the welding quality detection image set; the detection optimization module is used for determining welding quality based on the detection three-dimensional model, wherein the welding quality comprises whether a welding displacement phenomenon exists at a welding position, and the welding displacement phenomenon is caused by the fact that a welding positioning point and an actual welding point of a workpiece cannot be completely butted; and if the welding displacement phenomenon exists, determining an actual welding point based on the detection three-dimensional model, and replacing the coordinate parameter of the actual welding point with the welding position in the database.

In another embodiment, the determining of the weld quality based on the inspection three-dimensional model in the inspection optimization module comprises:

the accurate comparison sub-module adopts an iterative closest point algorithm to carry out accurate comparison after the initial comparison is finished;

The working principle of the technical scheme is as follows: the scheme adopted by the embodiment is that the determination of the welding quality based on the detection three-dimensional model in the detection optimization module comprises the following steps: the initial comparison submodule is used for carrying out model initial comparison on the detected three-dimensional model and a new three-dimensional image model of the position to be welded by adopting a normal distribution transformation algorithm and carrying out comparison on the basis of normal distribution of multi-dimensional variables of the model; the accurate comparison submodule adopts an iterative closest point algorithm to perform accurate comparison after the initial comparison is finished; the matrix calculation submodule is used for calculating the distance between the minimum two points in the optimal theory to obtain a corresponding transformation matrix, determining a rotation matrix based on the transformation matrix, and determining the comparison result of the detection three-dimensional model and the closest point in the new three-dimensional image model of the position to be welded based on the rotation matrix; and determining the welding quality based on the comparison result.

The beneficial effects of the above technical scheme are: the method for determining the welding quality based on the three-dimensional detection model in the detection optimization module according to the scheme provided by the embodiment comprises the following steps: the initial comparison submodule is used for carrying out model initial comparison on the detected three-dimensional model and a new three-dimensional image model of the position to be welded by adopting a normal distribution transformation algorithm and carrying out comparison on the basis of normal distribution of multi-dimensional variables of the model; the accurate comparison submodule adopts an iterative closest point algorithm to perform accurate comparison after the initial comparison is finished; the matrix calculation submodule is used for calculating the distance between the minimum two points in the optimal theory to obtain a corresponding transformation matrix, determining a rotation matrix based on the transformation matrix, and determining the comparison result of the detection three-dimensional model and the closest point in the new three-dimensional image model of the position to be welded based on the rotation matrix; and determining the welding quality based on the comparison result.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. An automatic welding method based on computer vision is characterized by comprising the following steps:

2. The computer vision based automated welding method of claim 1,

the S200 includes:

s201, moving automatic welding equipment to a welding position;

3. The computer vision based automated welding method of claim 2,

the S202 includes:

4. The computer vision based automated welding method of claim 3,

the step S300 is followed by:

5. The computer vision based automated welding method of claim 4,

the determining the welding quality based on the detected three-dimensional model in S500 includes:

s502, after the initial comparison is finished, performing accurate comparison by adopting an iterative closest point algorithm;

6. A computer vision based automated welding system, comprising:

7. The computer vision based automated welding system of claim 6,

the anchor point determination module comprises:

8. The computer vision based automated welding system of claim 7,

the computer vision system includes:

9. The computer vision based automated welding system of claim 8,

further comprising:

10. The computer vision based automated welding system of claim 9,

the determining the welding quality based on the detection three-dimensional model in the detection optimization module comprises the following steps: