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Welding seam recognition method based on piecewise linear fitting

A recognition method, piecewise linear technology, applied in character and pattern recognition, instruments, computer parts, etc., can solve the problems of lack of versatility, long matching process, poor adaptability, etc., to improve applicability and simplify calculation. Level complexity, adaptable effects

Inactive Publication Date: 2018-11-27
SOUTH CHINA UNIV OF TECH +1
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Problems solved by technology

At present, many applications only identify one of the weld types, which has no versatility and poor adaptability; some applications use template matching to identify welds. This method requires pre-defined template images, and the matching The process takes a long time

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  • Welding seam recognition method based on piecewise linear fitting
  • Welding seam recognition method based on piecewise linear fitting
  • Welding seam recognition method based on piecewise linear fitting

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Embodiment Construction

[0041] In order to make the technical solutions and features of the present invention more clearly understood, the present invention will be further described below in conjunction with the accompanying drawings.

[0042] As shown in 1 to 4, a weld recognition method based on piecewise linear fitting, including steps:

[0043] S1. Obtain a series of discrete points of the laser centerline, and segment the discrete points by means of recursive subdivision;

[0044] S2. In the discrete points of each segment, the internal point of the discrete points of the segment is searched in a random sampling consistent manner;

[0045] S3. Judging the ratio w between the number of interior points sought and the number of discrete points in this section, when the ratio w is greater than the threshold we, output the interior points sought and fit the interior points into a straight line, otherwise return to step S2 until the laser center All discrete points of the line become ordered straigh...

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Abstract

The invention discloses a welding seam recognition method based on piecewise linear fitting. The method comprises the following steps: (1) obtaining a series of discrete points of a laser centerline and segmenting the discrete points by adopting a recursive subdivision method; (2) searching the interior points of the discrete points in the segment by means of random sampling consistency in each segment of discrete points; (3) judging the ratio w of the number of the searched interior points to the number of the discrete points of the segment and outputting the searched interior points and fitting the searched interior points into straight lines when the ratio w is greater than the threshold we, otherwise returning to the step (2); (4) using the distance proportion judgment method to mergethe adjacent straight line segments with similar slope; (5) and comparing and matching the merged straight line segments and the intersection points with the set weld type and extracting the welding seam recognition point position Ps under the corresponding welding seam type. The non-planar situation of the surface on both sides of the welding seam can be coped with so that adaptability is high and the recognition stability of the welding seam tracking system can be improved.

Description

technical field [0001] The invention is applied to robot intelligent welding and the like, belongs to the field of advanced manufacturing and automation, and relates to a segmented linear fitting welding seam identification method of a structured light vision sensor. Background technique [0002] Automated welding technology is the development direction of welding field. At present, structured light vision sensors are used more and more in the field of welding as automatic welding auxiliary equipment. The structured light vision sensor has the characteristics of non-contact, strong anti-interference ability, high measurement accuracy and fast measurement speed. The use of structured light vision sensor can increase the flexibility of the welding robot and increase the intelligence of the welding process. The structured light vision sensor is mainly based on the principle of triangulation. By analyzing the position of the laser stripe in the image and identifying the coordin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62
CPCG06V2201/06G06F18/22G06F18/2411
Inventor 王念峰莫璟彬石小东郑永忠周升勇
Owner SOUTH CHINA UNIV OF TECH
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