CN113838142B - AR technology-based welding workpiece assembly method - Google Patents
AR technology-based welding workpiece assembly method Download PDFInfo
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- CN113838142B CN113838142B CN202111042693.7A CN202111042693A CN113838142B CN 113838142 B CN113838142 B CN 113838142B CN 202111042693 A CN202111042693 A CN 202111042693A CN 113838142 B CN113838142 B CN 113838142B
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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Abstract
The invention discloses a welding workpiece assembly method based on an AR technology, and belongs to the technical field of intelligent manufacturing, wherein an AR camera firstly calibrates a coordinate system of a workbench and a welding mechanical arm, then a workpiece CAD drawing is imported, then a worker performs operation placement according to projection on the workbench, and finally the welding mechanical arm performs welding work. The AR camera obtains space position coordinates, and after the built-in software analyzes and corrects the CAD drawing, the AR camera projects the CAD drawing on the surface of the workbench according to a proper proportion, so that subsequent workpiece placement and welding are facilitated; the whole welding workpiece assembly method based on the AR technology adopts the AR, namely the augmented reality technology, the projection device AR camera is used for projecting the graphic images of the workpieces to be spliced and placed onto the workbench, the human is guided to splice the parts to the designated positions in sequence, the whole system reduces the manual image reading requirement, reduces the operation difficulty, and is particularly suitable for multi-variety frequent production changing scenes.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a welding workpiece pairing method based on AR technology.
Background
Welding, also known as fusion welding, is a process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure. The energy sources of modern welding are numerous and include gas flames, electric arcs, lasers, electron beams, friction and ultrasound. When welding metal workpieces, the welding positions of the workpieces are required to be predetermined, a welding robot is arranged at present, the workpieces are required to be placed at the welding positions in advance before the welding robot works, so that workers are required to be familiar with digital drawings, the workpieces are placed according to the digital drawings, the operation difficulty is improved, meanwhile, different welding actual conditions are faced, and the drawing placement is required to be carried out for many times, so that the working efficiency is further reduced.
The utility model discloses a virtual welding teaching device of VR of number CN211427560U, it is including placing the device frame on table surface, be used for the learner to carry out virtual welded welder of welding frame, a tracker for obtaining the positional information and the angle information when welding, be used for showing virtual welding process's VR glasses and the processing unit who is connected with tracker and VR glasses respectively, the virtual welding teaching device of VR is still including installing the multistation welding frame body of multiple welding frame and the stiff end be connected with the device frame and the movable end with the arm of hovering that the multistation welding frame body is connected, welder, the multistation welds the frame body and hovering all be equipped with the tracker on the arm, it is in order to adjust the welding frame of installing on the different stations of multistation welding frame body to the place ahead of learner through the adjustment hovering the arm, for the learner operates welder and carries out virtual welding. Although the virtual welding effect of the part can be improved, the problem that the work difficulty is high because workers need to put workpieces under the condition of knowing digital drawings cannot be solved.
Disclosure of Invention
The invention aims to provide a welding workpiece assembling method based on an AR technology, which has the advantages of being capable of rapidly determining the placement position of workpieces, facilitating subsequent welding, reducing operation difficulty and being good in practicality, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the AR technology-based welding workpiece assembly method comprises the following steps of:
s1: firstly calibrating a working coordinate system of an AR camera and a workbench, specifically, arranging the AR camera right above the workbench under the condition of ensuring a proper light source of a welding area, then taking phases and scanning the AR camera against the upper surface of the workbench, preferentially determining the coordinates of four corners of the upper surface of the workbench, presetting the coordinates as basic coordinates, then determining the intersection point coordinates of the intersection point of a transverse line and a vertical line on the upper surface of the workbench, presetting the intersection point coordinates of the intersection point of each transverse line and the vertical line as judging coordinates, wherein each judging coordinate has a position relationship with the basic coordinates, and recording the relative position of each judging coordinate inside the AR camera;
s2: calibrating a working coordinate system of a workbench and a welding mechanical arm, specifically, after determining the working coordinate system, an AR camera sequentially deflects a certain angle towards the welding mechanical arm until the phase taking range of the AR camera completely covers the welding mechanical arm, at the moment, the AR camera does not deflect any more, then the AR camera sequentially performs coordinate determination on a base, a main body support and a welding part of the welding mechanical arm, and meanwhile, distance values of four corners of the upper surface of the workbench and the welding part of the welding mechanical arm are calculated;
s3: importing a workpiece CAD drawing, analyzing and projecting the workpiece CAD drawing onto a workbench, importing the workpiece CAD drawing to be welded into an AR camera, analyzing the CAD drawing by the AR camera, correcting the analyzed CAD drawing in the direction by the AR camera to ensure that the CAD drawing meets the working range of a welding mechanical arm, and projecting the corrected CAD drawing onto the workbench;
s4: the working personnel operate and place according to the projection on the workbench, wherein the AR camera can coincide the projection of the workpiece with the coordinate of a certain point intersection point, namely the judgment coordinate, through a built-in algorithm, so that the working personnel can conveniently and correctly determine the placing position;
s5: and finally, the welding mechanical arm executes welding work.
Further, the team formation method needs to involve components such as a workbench, an AR camera and a welding mechanical arm, wherein the welding mechanical arm is located on one side of the workbench, the AR camera is installed above the workbench, the AR camera is connected with the welding mechanical arm through a wire, the workbench comprises a panel, a support column, a base foundation and a diagonal frame, the base foundation is connected with the panel through the support column and the diagonal frame, the four corners of the upper surface of the panel are coated with marks, the panel is marked with uniformly distributed transverse lines and vertical lines, and the distance value of the transverse lines is the same as that of the vertical lines.
Furthermore, the inner side of the AR camera related to the team formation method is provided with a calculating unit, a phase taking unit, an analyzing unit, a correcting unit, an image buffer module, a correcting module and a review module, wherein the input end of the calculating unit is connected with the phase taking unit and the image buffer module, the output end of the calculating unit is connected with the analyzing unit, the output end of the analyzing unit is connected with the correcting unit, the correcting unit is electrically connected with the correcting module, and the input end of the correcting module is connected with the review module.
Further, the AR camera is a rotatable pick-up camera.
Compared with the prior art, the invention has the beneficial effects that: according to the welding workpiece assembly method based on the AR technology, firstly, the working coordinate system of the AR camera and the working table is calibrated, then the working coordinate system of the working table and the welding mechanical arm is calibrated, then a workpiece CAD drawing is imported, then a worker performs operation placement according to projection on the working table, and finally the welding mechanical arm performs welding work. The AR camera can obtain a spatial distribution map of the surface of the workbench and spatial position coordinates of a welding part of the welding mechanical arm, and after the CAD drawing is analyzed and corrected by built-in software, the CAD drawing is projected on the surface of the workbench by the AR camera according to a proper proportion, so that subsequent workpiece placement and welding are facilitated; the whole welding workpiece assembly method based on the AR technology adopts the AR, namely the augmented reality technology, the projection device AR camera is used for projecting the graphic images of the workpieces to be spliced and placed onto the workbench, the manual work is guided to splice the parts to the designated positions in sequence, the whole system reduces the manual image reading requirement, the positions of the spliced workpieces cannot deviate too much from projection, the operation difficulty is reduced, and the welding workpiece assembly method is particularly suitable for multiple varieties of frequent production changing scenes.
Drawings
FIG. 1 is a general schematic topology of the present invention;
FIG. 2 is a schematic view of a workbench according to the present invention;
FIG. 3 is a functional block diagram of an AR camera of the present invention;
fig. 4 is a schematic view of the spatial layout of four corners of the upper surface of the workbench according to the invention.
In the figure: 1. a work table; 11. a panel; 12. a support column; 13. a bottom foundation; 14. a cable-stayed frame; 2. an AR camera; 21. a calculation unit; 22. a phase taking unit; 23. an analysis unit; 24. a correction unit; 25. an image buffer module; 26. a correction module; 27. a review module; 3. and welding the mechanical arm.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Please refer to fig. 1-4; the AR technology-based welding workpiece assembly method comprises the following steps of:
the first step: firstly, calibrating a working coordinate system of an AR camera 2 and a workbench 1, specifically, arranging the AR camera 2 right above the workbench 1 under the condition of ensuring a proper light source of a welding area, wherein the AR camera 2 is a rotatable pick-up camera, then picking up and scanning the AR camera 2 against the upper surface of the workbench 1, wherein the coordinates of four corners of the upper surface of the workbench 1 are preferentially determined, the four corners of the upper surface of a panel 11 are coated with marks in advance, so that the AR camera 2 can easily determine the positions of the four corners of the upper surface of the workbench 1 at the first time, quickly determine the coordinates of the corners, set the coordinates of the corners as basic coordinates, store the basic coordinates inside the AR camera 2, then determine the coordinates of the intersection points of transverse lines and vertical lines of the upper surface of the workbench 1, wherein the position of the four corners on the upper surface of the workbench 1 is determined by the AR camera 2 at the first time, the four corners are respectively set as 00 points, 01 points, 10 points and 11 points, the coordinates of the four corners are stored, the coordinates of the intersection points of the transverse line and the vertical line on the upper surface of the workbench 1 are determined by the AR camera 2, the gaps of the transverse line and the 01 points are divided into a plurality of spaces with the same length units by the transverse line, the gaps of the 00 points and the 10 points are divided into a plurality of spaces with the same length units by the vertical line, therefore, the intersection point coordinates of the intersection points of the horizontal lines and the vertical lines and the coordinates of the four corner position points have different corresponding relations, so that the subsequent CAD drawing projection and workpiece placement are facilitated;
and a second step of: calibrating working coordinate systems of the workbench 1 and the welding mechanical arm 3, specifically, after the AR camera 2 determines the working coordinate system of the workbench 1, the AR camera 2 sequentially deviates a certain angle towards the direction of the welding mechanical arm 3 until the phase taking range of the AR camera 2 completely covers the welding mechanical arm 3, at the moment, the AR camera 2 does not deflect any more, then the AR camera 2 sequentially performs coordinate determination on a base, a main body support and a welding part of the welding mechanical arm 3, and simultaneously calculates distance values of four corners of the welding part of the welding mechanical arm 3 and the upper surface of the workbench 1; the AR camera 2 is a rotatable phase-taking camera, so that the AR camera 2 can rotate according to requirements, a phase-taking mode of the AR camera 2 can adopt a stepping mode, the AR camera 2 can comprehensively sample a coordinate system of the workbench 1 to be an initial position, the coordinate sampling of a welding part of the AR camera 2 can weld the mechanical arm 3 to be an end position, the projection proper position of a CAD drawing is convenient to determine according to the change of angles, and meanwhile, the travel of the welding part of the welding mechanical arm 3 needs to be ensured to meet the actual welding requirements, wherein the relative positions exist between the coordinate of the welding part of the welding mechanical arm 3 acquired by the AR camera 2 and the four corner coordinates acquired before;
and a third step of: leading in a workpiece CAD drawing, analyzing and projecting the workpiece CAD drawing to be welded onto a workbench 1, then leading the workpiece CAD drawing to be welded into an AR camera 2, analyzing the CAD drawing by the AR camera 2, correcting the analyzed CAD drawing in the direction by the AR camera 2 to ensure that the CAD drawing meets the working range of a welding mechanical arm 3, and projecting the corrected CAD drawing onto the workbench 1; specifically, when the AR camera 2 projects a CAD drawing of a workpiece, first, four corner coordinate positions are determined, then, according to the actual proportion of the CAD drawing, four corner points on the CAD drawing are covered with the four corner coordinate positions, and then, the CAD drawing with the same proportion is projected, wherein, in order to ensure the accuracy of the projection position, one side with the longest length of the workpiece in the CAD drawing can be determined as a base side, and the base side is projected onto the workbench 1, so that the base side coincides with a transverse line on the workbench 1;
fourth step: the working personnel operate and place according to the projection on the workbench 1, wherein the AR camera 2 can coincide the projection of the workpiece with the coordinate of a certain point intersection point, namely the judgment coordinate, through a built-in algorithm, so that the working personnel can conveniently and correctly determine the placing position;
fifth step: finally, the welding robot arm 3 performs welding work.
The team forming method needs to relate to components such as a workbench 1, an AR camera 2, a welding mechanical arm 3 and the like, wherein the welding mechanical arm 3 is located on one side of the workbench 1, the welding mechanical arm 3 is used for carrying out quick mechanical welding, the AR camera 2 is installed above the workbench 1, the AR camera 2 is connected with the welding mechanical arm 3 through a wire, the workbench 1 comprises a panel 11, a support column 12, a base foundation 13 and a diagonal-pulling frame 14, the base foundation 13 is connected with the panel 11 through the support column 12 and the diagonal-pulling frame 14, the diagonal-pulling frame 14 ensures the overall stability, meanwhile, the overall thermal deformation in the welding process is reduced, the four corners of the upper surface of the panel 11 are coated with marks, so that the AR camera 2 can conveniently and quickly determine the upper surface position of the workbench 1, the transverse lines and the vertical lines which are uniformly distributed are marked on the panel 11, the distance values of the transverse lines are identical with the distance values of the vertical lines, and the transverse lines and the vertical lines are used for facilitating sampling and subsequent workpiece placement.
The inside of the AR camera 2 is provided with a calculation unit 21, a phase taking unit 22, an analysis unit 23, a correction unit 24, an image buffer module 25, a correction module 26 and a review module 27, wherein the input end of the calculation unit 21 is connected with the phase taking unit 22 and the image buffer module 25, the output end of the calculation unit 21 is connected with the analysis unit 23, the output end of the analysis unit 23 is connected with the correction unit 24, the correction unit 24 is electrically connected with the correction module 26, and the input end of the correction module 26 is connected with the review module 27; the working principle of the AR camera 2 is that the AR camera 2 firstly performs phase and coordinate positioning on the upper surface of the workbench 1, the AR camera 2 obtains a spatial distribution diagram of the surface of the workbench 1, then the AR camera 2 performs coordinate positioning on the welding mechanical arm 3 and obtains a spatial position coordinate of a welding part of the welding mechanical arm 3, then a CAD drawing is led into the AR camera 2, analysis and correction software is built in the AR camera 2, the built-in software analyzes and corrects the CAD drawing, the AR camera 2 performs scaling on the CAD drawing in a proper proportion, the scaled CAD drawing is matched with the surface of the workbench 1, and CAD drawing projection is performed, wherein a workpiece of the CAD drawing is projected to the greatest extent on a transverse line and a vertical direction on the surface of the workbench 1, so that subsequent welding can be ensured, and the review module 27 performs review to confirm the projection position before projection determination so as to facilitate subsequent correction.
The method for assembling the welding workpiece based on the AR technology comprises the steps of firstly calibrating a working coordinate system of an AR camera 2 and a workbench 1, arranging the AR camera 2 right above the workbench 1 under the condition of ensuring a proper light source of a welding area, enabling the AR camera 2 to be a rotatable phase-picking camera, enabling the AR camera 2 to conduct phase picking and scanning against the upper surface of the workbench 1, preferentially determining coordinates of four corners of the upper surface of the workbench 1, setting the coordinates of the corners as basic coordinates, storing the basic coordinates inside the AR camera 2, and then determining intersection point coordinates of crossing points of transverse lines and vertical lines of the upper surface of the workbench 1, wherein the intersection point coordinates are preset as judging coordinates, and enabling the transverse lines and the vertical lines to be rapidly positioned through marks and simultaneously facilitating subsequent workpiece placement; then calibrating working coordinate systems of the workbench 1 and the welding mechanical arm 3, specifically speaking, after the AR camera 2 determines the coordinate system of the workbench 1, the AR camera 2 sequentially deviates to a certain angle towards the direction of the welding mechanical arm 3 until the phase taking range of the AR camera 2 completely covers the welding mechanical arm 3, at the moment, the AR camera 2 does not deflect any more, the AR camera 2 determines the coordinate of a welding part of the welding mechanical arm 3, and meanwhile, calculates the distance values of four corners of the upper surface of the workbench 1 and the welding part of the welding mechanical arm 3; then, importing a workpiece CAD drawing, analyzing and projecting the workpiece CAD drawing onto a workbench 1, importing the workpiece CAD drawing to be welded into an AR camera 2, firstly analyzing the CAD drawing by built-in software, then, correcting the analyzed CAD drawing in the direction to ensure that the CAD drawing meets the working range of a welding mechanical arm 3, and projecting the corrected CAD drawing onto the workbench 1; then, the worker performs operation and placement according to the projection on the workbench 1, wherein the AR camera 2 can coincide the projection of the workpiece with the coordinate of a certain point intersection point, namely the judgment coordinate, through a built-in algorithm, so that the worker can conveniently and correctly determine the placement position; finally, the welding robot arm 3 performs welding work. The working principle of the AR camera 2 is that the AR camera 2 firstly performs phase and coordinate positioning on the upper surface of the workbench 1, the AR camera 2 obtains a spatial distribution diagram of the surface of the workbench 1, then the AR camera 2 performs coordinate positioning on the welding mechanical arm 3 and obtains a spatial position coordinate of a welding part of the welding mechanical arm 3, then a CAD drawing is led into the AR camera 2, built-in software analyzes and corrects the CAD drawing, the AR camera 2 performs scaling on the CAD drawing in a proper proportion, the scaled CAD drawing is matched with the surface of the workbench 1, and CAD drawing projection is performed, wherein a workpiece of the CAD drawing is projected to the greatest extent on a transverse line and a vertical line of the surface of the workbench 1, so that subsequent welding can be ensured, and a review and confirm projection position is convenient for subsequent correction by a review module 27 before projection determination; the whole welding workpiece assembly method based on the AR technology adopts the AR, namely the augmented reality technology, the projection device AR camera 2 projects the graphic images of the workpieces to be spliced and placed onto the workbench 1, the parts are guided to be sequentially spliced at the designated positions by a guide person, the whole system reduces the manual image reading requirement, the positions of the spliced workpieces cannot deviate too much from projection, the operation difficulty is reduced, and the method is particularly suitable for multiple varieties of frequent production changing scenes.
In summary, according to the method for assembling a welding workpiece based on the AR technology provided by the invention, the working coordinate systems of the AR camera 2 and the workbench 1 are calibrated firstly, then the working coordinate systems of the workbench 1 and the welding mechanical arm 3 are calibrated, then the workpiece CAD drawing is imported, then the worker performs operation placement according to the projection on the workbench 1, and finally the welding mechanical arm 3 performs welding work. The AR camera 2 can obtain a spatial distribution map of the surface of the workbench 1 and a spatial position coordinate of a welding part of the welding mechanical arm 3, and after the CAD drawing is analyzed and corrected by built-in software, the CAD drawing is projected on the surface of the workbench 1 by the AR camera 2 according to a proper proportion, so that subsequent workpiece placement and welding are facilitated; the whole welding workpiece assembly method based on the AR technology adopts the AR, namely the augmented reality technology, the projection device AR camera 2 projects the graphic images of the workpieces to be spliced and placed onto the workbench 1, the parts are guided to be sequentially spliced at the designated positions by a guide person, the whole system reduces the manual image reading requirement, the positions of the spliced workpieces cannot deviate too much from projection, the operation difficulty is reduced, and the method is particularly suitable for multiple varieties of frequent production changing scenes.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (3)
1. The AR technology-based welding workpiece assembly method is characterized by comprising the following steps of:
s1: firstly, calibrating a working coordinate system of an AR camera (2) and a workbench (1), specifically, firstly arranging the AR camera (2) right above the workbench (1) under the condition of ensuring a proper light source of a welding area, then carrying out phase picking and scanning on the upper surface of the workbench (1) by the AR camera (2), preferentially determining the coordinates of four corners of the upper surface of the workbench (1), presetting the coordinates as basic coordinates, and then determining the intersection point coordinates of the intersection point of a transverse line and a vertical line of the upper surface of the workbench (1), wherein the intersection point coordinates of each transverse line and the vertical line are preset as judgment coordinates, each judgment coordinate has a position relation with the basic coordinates, and recording the relative position of each judgment coordinate inside the AR camera (2);
s2: calibrating a working coordinate system of the workbench (1) and the welding mechanical arm (3), specifically speaking, after the AR camera (2) determines the working coordinate system of the workbench (1), the AR camera (2) sequentially shifts a certain angle towards the direction of the welding mechanical arm (3) until the phase taking range of the AR camera (2) completely covers the welding mechanical arm (3), at the moment, the AR camera (2) does not deflect any more, then the AR camera (2) sequentially determines coordinates of a base, a main body support and a welding part of the welding mechanical arm (3), and simultaneously calculates distance values of four corners of the upper surface of the welding mechanical arm (3) and the workbench (1);
s3: importing a workpiece CAD drawing, analyzing and projecting the workpiece CAD drawing onto a workbench (1), importing the workpiece CAD drawing to be welded into an AR camera (2), analyzing the CAD drawing by the AR camera (2), correcting the analyzed CAD drawing in the direction by the AR camera (2) to ensure that the CAD drawing meets the working range of a welding mechanical arm (3), and projecting the corrected CAD drawing onto the workbench (1);
s4: the working personnel operate and place according to the projection on the workbench (1), wherein the AR camera (2) can coincide the projection of the workpiece with the coordinate of a certain point intersection point, namely the judgment coordinate, through a built-in algorithm, so that the working personnel can conveniently and correctly determine the placing position;
s5: finally, the welding mechanical arm (3) executes welding work;
the assembly method comprises the steps that a workbench (1), an AR camera (2) and a welding mechanical arm (3) are needed, the welding mechanical arm (3) is located on one side of the workbench (1), the AR camera (2) is installed above the workbench (1), the AR camera (2) is connected with the welding mechanical arm (3) through a wire, the workbench (1) comprises a panel (11), a support column (12), a base foundation (13) and a diagonal-pulling frame (14), the base foundation (13) is connected with the panel (11) through the support column (12) and the diagonal-pulling frame (14), marks are coated on four corners of the upper surface of the panel (11), transverse lines and vertical lines which are evenly distributed are marked on the panel (11), and the distance value of the transverse lines is identical to that of the vertical lines.
2. The AR technology-based welding workpiece pairing method according to claim 1, wherein a computing unit (21), a phase taking unit (22), an analyzing unit (23), a correcting unit (24), an image buffering module (25), a correcting module (26) and a review module (27) are arranged on the inner side of the AR camera (2) related to the pairing method, wherein an input end of the computing unit (21) is connected with the phase taking unit (22) and the image buffering module (25), an output end of the computing unit (21) is connected with the analyzing unit (23), an output end of the analyzing unit (23) is connected with the correcting unit (24), the correcting unit (24) is electrically connected with the correcting module (26), and an input end of the correcting module (26) is connected with the review module (27).
3. The AR technology based welding workpiece pairing method according to claim 1, characterized in that the AR camera (2) is a rotatable phase-picking camera.
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