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智能化是运载火箭推进剂贮箱焊接的发展趋势,而智能化的基础是焊接过程中焊缝成形信息的实时传感。熔池表面高度对于焊接过程智能控制具有非常重要的作用,但是由于焊接过程独有的特点使得熔池表面高度的计算和测量极其困难。从阴影恢复形状方法是计算机视觉领域从图像提取物体形状的方法,其原理是基于物体的单幅图像通过求解物体表面的反射图方程来计算物体的表面高度。本文根据2A14铝合金脉冲GTAW熔池表面反射图模型采用最小值方法计算了熔池表面高度,并对不同送丝速度下熔池形状进行了对比,结果表明计算结果的变化趋势能够反映熔池表面形状随送丝速度变化的趋势,从而证明了从阴影恢复形状方法获取焊接熔池形状的可行性。
Intelligence is the development trend of carrier rocket propellant tank welding, and the basis of intelligence is the real-time sensing of welding seam forming information in the welding process. The bath surface height plays a very important role in the intelligent control of the welding process. However, due to the unique characteristics of the welding process, the calculation and measurement of the bath surface height are extremely difficult. The method of recovering the shape from the shadows is a method of extracting the shape of the object from the image in the field of computer vision. The principle is that the height of the surface of the object is calculated by solving the reflection graph equation of the object surface based on a single image of the object. In this paper, based on the 2A14 aluminum alloy pulse GTAW pool surface reflectance model, the minimum height method was used to calculate the surface height of the molten pool. The shape of the molten pool under different wire feed velocities was compared. The results show that the trend of the calculated results can reflect the surface of the molten pool The trend of the shape changes with wire feed speed, which proves the feasibility of obtaining the shape of the welding pool from the shadow shape recovery method.