阅读说明：本技术 一种焊缝识别补偿装置及方法 (Welding seam identification compensation device and method ) 是由 余超雄 于 2019-01-17 设计创作，主要内容包括：本发明提供一种焊缝识别补偿装置,该装置应用于管材加工设备上,所述装置包括：视觉传感模块,用于采集管材表面图片,识别并标记管材上的焊缝；补偿旋转模块,用于在视觉传感模块标记焊缝后,将管材进行旋转,使得该管材的焊缝处于非加工面上。本发明还提供一种焊缝识别补偿方法,该方法应用于管材加工设备上,所述方法包括：步骤A,采集管材当前被测面图片；步骤B,根据所述图片,识别并标记管材上的焊缝；步骤C,旋转管材,使得该管材的焊缝处于非加工面上。(The invention provides a welding seam identification compensation device, which is applied to pipe processing equipment and comprises: the visual sensing module is used for acquiring pictures on the surface of the pipe, and identifying and marking welding seams on the pipe; and the compensation rotating module is used for rotating the pipe after the visual sensing module marks the welding line, so that the welding line of the pipe is positioned on the non-processing surface. The invention also provides a welding line identification compensation method, which is applied to pipe processing equipment and comprises the following steps: a, collecting a picture of a current measured surface of a pipe; b, identifying and marking a welding seam on the pipe according to the picture; and step C, rotating the pipe to enable the welding seam of the pipe to be positioned on the non-processing surface.)

1. The utility model provides a welding seam discernment compensation arrangement, the device is applied to tubular product processing equipment on, its characterized in that, the device includes:

The visual sensing module is used for acquiring pictures on the surface of the pipe, and identifying and marking welding seams on the pipe;

And the compensation rotating module is used for rotating the pipe after the visual sensing module marks the welding line, so that the welding line of the pipe is positioned on the non-processing surface.

2. The device of claim 1, wherein the visual sensing device is a visual sensor.

3. The device of claim 2, wherein the visual sensor identifies whether the pipe has a weld or not through the acquired picture color or signal value.

4. A welding seam identification compensation method is applied to pipe machining equipment and is characterized by comprising the following steps:

A, collecting a picture of a current measured surface of a pipe;

B, identifying and marking a welding seam on the pipe according to the picture;

And step C, rotating the pipe to enable the welding seam of the pipe to be positioned on the non-processing surface.

5. The method of claim 4, wherein step B further comprises:

D, identifying whether the pipe has a welding line according to the color of the picture;

E, if no welding seam exists, rotating the pipe and repeating the step A;

And F, marking the position of the welding line if the welding line exists.

6. The method of claim 5, wherein step E further comprises:

And if no welding line exists, rotating the pipe according to a preset rotation value theta.

7. The method according to claim 6, characterized in that the rotation value θ is 90 °.

8. The method of claim 4, wherein step C further comprises: and rotating the pipe according to the compensation value so that the welding seam of the pipe is positioned on the non-processing surface.

9. The method of claim 8, wherein the offset value is 180 °.

Technical Field

The invention relates to pipe machining equipment, in particular to a welding line identification compensation device and a welding line identification compensation method.

Background

In the pipe processing industry, some customers have high requirements on finished pipes, and can require that holes or some connection features are prevented from being processed on welding seams of the pipes in the product processing process. And the present tubular product processing mode of adopting full-automatic unloading of going up, in the course of working, the tubular product on the processing equipment is sent to the processing equipment automatically, consequently can't guarantee whether the tubular product welding seam is at the machined surface of tubular product, does not confirm whether the welding seam is on the partial surface that tubular product needs to be processed promptly.

Disclosure of Invention

In view of the above, the present invention provides a welding seam identification compensation device, which is applied to a pipe processing device, and comprises: the visual sensing module is used for acquiring pictures on the surface of the pipe, and identifying and marking welding seams on the pipe; and the compensation rotating module is used for rotating the pipe after the visual sensing module marks the welding line, so that the welding line of the pipe is positioned on the non-processing surface.

Further, the visual sensing device is a visual sensor.

Further, the visual sensor identifies whether the pipe has a welding seam or not through the collected picture color or signal value.

The invention also provides a welding line identification compensation method, which is applied to pipe processing equipment and comprises the following steps: a, collecting a picture of a current measured surface of a pipe; b, identifying and marking a welding seam on the pipe according to the picture; and step C, rotating the pipe to enable the welding seam of the pipe to be positioned on the non-processing surface.

Further, the step B further includes: d, identifying whether the pipe has a welding line according to the color of the picture; e, if no welding seam exists, rotating the pipe and repeating the step A; and F, marking the position of the welding line if the welding line exists.

Further, the step E further includes: and if no welding line exists, rotating the pipe according to a preset rotation value theta.

Further, the rotation value θ is 90 °.

Further, the step C further includes: and rotating the pipe according to the compensation value so that the welding seam of the pipe is positioned on the non-processing surface.

Further, the compensation value is 180 °.

According to the technical scheme provided by the invention, the welding seam can be identified by the visual sensor mark, the corresponding position is marked, and in the formal machining process, the workpiece is compensated, so that the hole or other connection characteristics are prevented from being machined on the welding seam.

Drawings

FIG. 1A is a schematic view of a weld at the middle of one side of a rectangular tube;

FIGS. 1B and 1C are schematic diagrams illustrating the edge positions of weld seams on one surface of a rectangular pipe;

FIG. 2 is a flow chart provided by the present invention;

FIG. 3 is a schematic view of a vision sensor acquiring a picture of a measured surface of a circular pipe;

FIGS. 4A and 4B are views of a visual sensor display;

FIG. 5 is another flow chart provided by the present invention;

FIG. 6 is a schematic view of a vision sensor collecting a picture of a measured surface of a rectangular pipe;

FIG. 7 is another exemplary flow chart provided by the present invention;

Fig. 8A and 8B are schematic diagrams of another vision sensor for acquiring pictures of a measured surface of a rectangular pipe.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

The method comprises the following steps:

The invention provides a welding line identification compensation method, which is applied to pipe machining equipment. As the pipe materials are divided into a round pipe material and a rectangular pipe material in a common condition, and the positions of welding seams on the rectangular pipe material are divided into two conditions, one is that the welding seams are arranged in the middle of one surface of the pipe material, and the other is arranged at the position close to the side, as shown in figures 1A, 1B and 1C. Because the different shapes and welding positions of the rectangular pipes lead to different processes of identifying and compensating the welding seams of the pipes, the technical scheme provided by the invention is introduced in three different situations.

Firstly, the application of the method to a circular pipe is described, as shown in fig. 2, specifically as follows:

Step 101, collecting a picture of a current measured surface of a pipe;

Usually, the work of collecting the picture of the measured surface of the pipe is completed by a visual sensor. As shown in fig. 3, the vision sensor is generally located above the pipe to be measured, and since the vision sensor has a fixed field of view, the surface of the pipe covered by the field of view is referred to as a measured surface.

Step 102, identifying and marking a welding seam on the pipe according to the picture;

The specific process is as follows:

Step 201, identifying whether the pipe has a welding seam according to the color of the picture;

Because the color of the surface of the pipe (shown in fig. 4A) at the weld joint is obviously different from the color of the surface of the pipe without the weld joint (shown in fig. 4B), the visual sensor can identify whether the weld joint exists on the detected surface of the pipe through the color of the acquired detected surface picture.

Step 202, if no welding seam exists, rotating the pipe according to a preset rotation value theta, and repeating the step 101;

From step 101 and step 201, since the visual field range of the visual sensor can only cover a part of the surface of the pipe to be tested, another part of the surface is not covered, and whether a weld seam exists or not cannot be detected. In order to realize the comprehensiveness of the weld joint detection and identification, when no weld joint exists on the current detected surface, the pipe needs to be rotated, and the step 101 is repeated to continue the detection. It should be noted that the rotation value θ is a central angle corresponding to the surface of the pipe covered by the field range of the vision sensor, as shown in fig. 3.

And step 203, marking the position of the welding seam if the welding seam exists.

If the welding seam exists, marking the position of the welding seam, for example, recording the coordinate value of the welding seam, so as to carry out corresponding treatment at a later stage.

And 103, rotating the pipe according to the compensation value to enable the welding seam of the pipe to be positioned on the non-processing surface.

Step 203 shows that the position of the weld joint can be identified and marked according to the color of the picture displayed by the visual sensor, and in order to avoid machining a hole or other connection features on the weld joint of the pipe, compensation machining needs to be performed according to the position of the weld joint in the pipe machining process, that is, the pipe is rotated according to the compensation value. If the pipe processing equipment is used for processing the pipe, namely the upper surface of the pipe is a processing surface and the lower surface of the pipe is a non-processing surface, the compensation value is usually 180 degrees, namely the pipe is rotated by 180 degrees, and the welding seam identified in the step 203 is rotated to the lower part, so that the welding seam of the pipe is positioned on the non-processing surface.

The application of the method to a rectangular pipe with a weld located in the middle of one side of the pipe is described next, as shown in fig. 5, specifically as follows:

301, acquiring a current measured surface picture of the pipe;

Usually, the work of collecting the picture of the measured surface of the pipe is completed by a visual sensor. As shown in fig. 6, the vision sensor is generally located above the pipe to be measured, and the rectangular pipe has four sides, so that the side of the pipe facing upwards is the surface to be measured, and since the vision sensor has a fixed view field range, and the view field range may not cover all the surfaces to be measured, the mode of the vision sensor for collecting pictures is different according to the position of the welding seam. Generally speaking, if the welding seam is located the middle part of one side of rectangular pipe, then vision sensor only need carry out the picture directly over tubular product and gather can.

Step 302, identifying and marking a welding seam on the pipe according to the picture;

The method comprises the following specific steps:

Step 401, identifying whether the pipe has a welding seam according to the color of the picture;

As shown in fig. 4A and 4B, since the color of the surface of the pipe at the weld is obviously different from the color of the surface of the pipe without the weld, the visual sensor can identify whether there is a weld on the measured surface of the pipe by the color of the collected measured surface picture.

Step 402, if no welding seam exists, rotating the pipe according to a preset rotation value theta equal to 90 degrees, and repeating the step 301;

It can be known from steps 301 and 401 that, since the field of view of the vision sensor can only cover one side of the pipe to be tested which faces upward, the other three sides are not covered, and it is impossible to detect whether there is a weld. In order to realize the comprehensiveness of the weld joint detection and identification, when no weld joint exists on the current detected surface, the pipe needs to be rotated, and the step 301 is repeated to continue the detection. It should be noted that, since the four faces of the rectangular tube are perpendicular to each other, the rotation value θ is 90 °.

And 403, marking the position of the welding seam if the welding seam exists.

If the welding seam exists, marking the position of the welding seam, for example, recording the coordinate value of the welding seam, so as to carry out corresponding treatment at a later stage.

And 303, rotating the pipe according to the compensation value to enable the welding seam of the pipe to be positioned on the non-processing surface.

In step 403, the position of the weld joint can be identified and marked according to the color of the picture displayed by the visual sensor, and in order to avoid machining a hole or other connection features on the weld joint of the pipe, compensation machining needs to be performed according to the position of the weld joint in the pipe machining process, that is, the pipe is rotated according to the compensation value. If the pipe processing equipment is used for processing the pipe on the upper side, that is, the side of the pipe facing upwards is a processing side, and the other three sides are non-processing sides, the compensation value is usually 180 degrees, that is, the pipe is rotated by 180 degrees, and the welding seam identified in the step 403 is rotated to the lower side, so that the welding seam of the pipe is on the non-processing side.

Finally, the application of the method to a rectangular pipe with a weld joint located at the position close to one side of the pipe is described, as shown in fig. 7, specifically as follows:

Step 501, collecting a current measured surface picture of a pipe;

Usually, the work of collecting the picture of the measured surface of the pipe is completed by a visual sensor. The visual sensor is generally positioned above the pipe to be measured, the rectangular pipe has four surfaces, so that the upward surface of the pipe is the surface to be measured, and the visual sensor has a fixed view field range which possibly cannot cover all the surfaces to be measured, so that the mode of the visual sensor for collecting pictures is different according to different positions of welding seams. Generally, if the welding seam is located at the position close to one side of the rectangular pipe, the vision sensor will collect pictures at the positions on two sides above the pipe, as shown in fig. 8A and 8B.

Step 502, identifying and marking a welding seam on the pipe according to the picture;

Because the surface color of the pipe at the welding seam is obviously different from that of the pipe without the welding seam, the visual sensor can identify whether the welding seam exists on the detected surface of the pipe through the color of the collected detected surface picture. The visual sensor can directly display the picture on the surface of the pipe to be detected and can also display a judgment value according to the color of the displayed picture, as shown in the upper left corners of the images 4A and 4B. Therefore, the welding seam can be identified not only directly according to the color of the picture, but also through the judgment value on the visual sensor. For a rectangular pipe with a weld joint located at the position close to one side of the pipe, the weld joint is usually identified through a judgment value.

When the pipe rotates to the narrow side, the pictures acquired by the visual sensor are not the surface of the pipe and the background color of the equipment is the part of the pictures, and when the background color of the equipment is not different from the calibrated color, the visual sensor can make a misjudgment and considers that the current surface is the surface with the welding seam. Therefore, in this case, it is necessary to collect images of four sides of the rectangular pipe, and to recognize the images according to the judgment value displayed on the visual sensor.

If the interference of the background color is an OK value, the actual four-side judgment result is as follows:

Serial number	Angle identification	Judgment value
			1	0	OK
2	90	OK
			3	180	NG
4	270	OK

TABLE 1

If the interference of the background color is an NG value, the actual four-side judgment result is as follows:

Serial number	Angle identification	Judgment value
			1	0	OK
2	90	NG
			3	180	NG
4	270	NG

TABLE 2

By combining the data, the judgment result of the opposite surface of the real surface with the welding seam is NG necessarily. While the results of the two interfering faces of the background color are necessarily the same.

Therefore, in such a case, it is necessary to perform sampling of four surfaces, and to determine that the weld OK signal is OK when the front surface signal is OK and the signal of the back surface after 180 degrees rotation is NG, so that it is determined that the front surface is the surface having the weld. For example, the results in tables 1 and 2 above are both the side from which the picture was taken for the first time as the side with the weld.

And 503, rotating the pipe according to the compensation value to enable the welding seam of the pipe to be on the non-processing surface.

for example, if it is determined from table 1 that the third captured picture is opposite to the side with the weld, the compensation value is 90 ° × 3 equal to 270 °, so that the tube needs to be rotated 270 ° and the rotation direction is the same as the rotation direction when the four pictures of the tube are captured.

The embodiment of the device is as follows:

Referring to fig. 3, fig. 6, fig. 8A and fig. 8B, the present invention provides a welding seam recognition and compensation device, which is applied to a pipe processing apparatus, and the device includes: the visual sensing module is used for acquiring pictures on the surface of the pipe, and identifying and marking welding seams on the pipe; and the compensation rotating module is used for rotating the pipe after the visual sensing module marks the welding line, so that the welding line of the pipe is positioned on the non-processing surface. The visual sensing device is a visual sensor. The visual sensor identifies whether the pipe has a welding seam or not through the collected picture color or signal value.

The specific method of using the device is described in detail above, and is not described herein again.

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 made within the spirit and principle of the present invention should be included in the scope of the present invention.