Image processing of weld pool and keyhole in Nd:YAG laser welding of stainless steel based on visual sensing

In order to obtain good welding quality, it is necessary to apply quality control because there are many influencing factors in laser welding process. The key to realize welding quality control is to obtain the quality information. Abundant weld quality information is contained in weld pool and keyhole. Aiming at Nd：YAG laser welding of stainless steel, a coaxial visual sensing system was constructed. The images of weld pool and keyhole were obtained. Based on the gray character of weld pool and keyhole in images, an image processing algorithm was designed. The search start point and search criteria of weld pool and keyhole edge were determined respectively.

Numerical analysis of dynamic variation of weld pool geometry in fully-penetrated TIG welding

A mathematical model is developed for numerical analysis of thermal process in TIG welding with a moving arc, which is considered the double-elliptic distribution for both arc heat flux and arc pressure. An adjusting factor is introduced into the expression of arc pressure. The domain within which the arc heat flux is distributed non-symmetrically due to arc moving is selected appropriately, and three conditions for the domain to meet are described. The latent heat is taken into consideration by liquid fraction method. The dynamic development of weld pool geometry during TIG welding is analyzed numerically, and the effect of arc moving on the weld pool geometry is discussed. The experimental results show that the numerical analysis accuracy is obviously improved through taking the above-mentioned measures.

NUMERICAL ANALYSIS OF THREE-DIMENSIONAL FLUID FLOW AND HEAT TRANSFER IN TIG WELD POOL WITH FULL PENETRATION

A model is established to analyze three-dimensional fluid flow and heat transfer in TICweld pools with full penetration.It considers the deformation of the molten pool surfaceat the condition of full penetrated workpieees,takes the are pressure as the drivingforce of the pool surface deformation,and determines the surface configuration of weldpool based on the dynamic balance of arc pressure,pool gravity and surface tension atdeformed weld pool surface. The SIMPLER algorithm is used to calculate the fluid flowfield and temperature distribution in TIG weld pools of stainless steel workpieces.TIGwelding experiments are made to verify the validity of the model.It shows the calculatedresults by the model are in good agreement with experimental measurements. professor,Dept of Welding Engineering,Harbin Institute of Technology,Harbin 150006,China

Vision-based detection of weld pool width in TIG welding of copper-clad aluminum cable

In order to realize automatic control of the width of weld pool, a visual sensor system for the width of weld pool detection is developed. By initiative arc light, the image of copper plate weld pool is taken back of the torch through the process of weakening and filtering arc light. In order to decrease the time of processing video signals, analog circuit is applied in the processing where video signals is magnified, trimmed and processed into binary on the datum of dynamic average value, therefore the waveform of video signals of weld pool is obtained. The method that is used for detecting the width of weld pool is established. Results show that the vision sensing method for real-time detecting weld pool width to copper-clad aluminum wire TIG welding is feasible. The response cycle of this system is no more than 50 ms, and the testing precision is less than 0. 1 mm.

Numerical analysis for weld pool of pulsed TIG welding

A two-dimensional axisymmetric mathematical model of weld pool of pulsed TIG welding was established. Numerical simulation for weld pool of pulsed TIG welding was done using FLUENT software by selecting the appropriate boundary conditions and strongly coupled control equations. The distributions of temperature field and flow field of weld pool under the periodic change of welding current were obtained. According to the maximum temperature of upper and lower surface of workpiece and depth and width of weld pool, the distributions of temperature field and flow field under different pulsed frequencies and current duty cycles were obtained and periodic variation was analyzed under pulsed current. The analysis results show that with the increase of pulsed frequency, weld pool width increases slightly while depth decreases slightly, and with the increase of current duty cycle, the width and depth of weld pool both increase significantly, and the depth increases greatly.

Classification of MAG weld pool image based on moment invariants and fisher

In order to discover characteristics of various kinds of weld pool image and identify a single image, seven image features are extracted to describe the corresponding surface formation quality by the moment iavariants method. An image feature matrix is composed by the seven characteristics. Then the matrix is projected on a line through the Fisher criterion in order to entirely distinguish various kinds of image features. And finally, transforming a seven-dimensional problem into a one-dimensional problem has been done. Compared with the three kinds of samples included in the arc welding process and quality weld pool visual image database, the images are classified into the three kinds such as superior weld formation in the condition of optimal gas flow, poor weld formation image in the condition of insuffwient gas flow, inferior weld formation in the condition of too low gas flow. Experiments show that the Fisher classification method based on moment invariants can recognize various weld pool images effectively, and it achieves a correct recognizable rate of 100%.

Specular reflection based sensing surface deformation of gas tungsten arc weld pool

A sensing system is developed to measure the weld pool boundary and pool suoface deformation in gas tungsten arc welding. LaserStrobe technique is used to eliminate the strong arc light inteoference, and specular reflection from the pool suoface is sensed to describe the relation between the deformed stripes and pool surface depression. Clear images of both the pool boundary and the deformed stripes edges are obtained during gas tungsten arc welding process, which lays foundation for realtime monitoring the pool suoface depression and weld penetration.

Vision-based detection of MAG weld pool

Weld pool contains significant information about the welding process. The weld pool images of MAG welding are detected by LaserStrobe system. An algorithm for extracting weld pool edge is proposed according to the characteristics of MAG weld pool images. The maximum weld pool length and width are calculated. The measurement data can be used to verify the results of welding process simulation and to provide a good foundation for automatic control of MAG welding process.

Visual sensing and morphological image processing of weld pool in laser spot welding

A visual sensing system was established to monitor the weld pool in laser spot welding. The top-hat and bottom-hat transformation algorithms based on mathematical morphology were used to compensate for non-uniform contrast of weld pool edge. Moreover, the canny edge detector was applied to extract the weld paol profile. The edge detected results show that the morphological operation is obviously superior to the traditional contrast enhancement method. In addition, the combination of dilation and erosion was applied to eliminate the irrelevant edge details, and the smooth weld pool edge was acquired. Based on the image processing technology described above, the dynamic process of weld pool diameter during laser spot welding was obtained.

Weld pool image sensor for pulsed MIG welding

Visual image sensor is developed to detect the weld pool images in pulsed MIG welding. An exposure controller, which is composed of the modules of the voltage transforming, the exposure parameters presetting, the complex programmable logic device （CPLD） based logic controlling, exposure signal processing, the arc state detecting, the mechanical iris driving and so on, is designed at first. Then, a visual image sensor consists of an ordinary CCD camera, optical system and exposure controller is established. The exposure synchronic control logic is described with very-high-speed integrated circuit hardware description language （VHDL） and programmed with CPLD , to detect weld pool images at the stage of base current in pulsed MIG welding. Finally, both bead on plate welding and V groove filled welding are carried out, clear and consistent weld pool images are acquired.

RECONSTRUCTION OF WELD POOL SURFACE BASED ON SHAPE FROM SHADING

A valid image-processing algorithm of weld pool surface reconstruction according to an input image of weld pool based on shape from shading （SFS） in computer vision is presented. The weld pool surface information is related to the backside weld width, which is crucial to the quality of weld joint. The image of weld pool is recorded with an optical sensing method. Firstly, the reflectance map model, which specifies the imaging process, is estimated. Then, the algorithm of weld pool surface reconstruction based on SFS is implemented by iteration scheme and speeded by hierarchical structure. The results indicate the accuracy and effectiveness of the approach.

Numerical simulation of asymmetric fillet weld pool based on temperature field and flow field coupling

The temperature field and flow field were analyzed to solve the problems of unstable penetration and poor forming quality,which always happen in asymmetric fillet welding. In order to explore the effect of the welding parameters on welding and improve the quality of forming,a three-dimensional mathematical model of asymmetric fillet welding was established by using the finite element software COMSOL and the coupling equation. The model was considered about the surface tension gradient,the electromagnetic force,gravity and the effect of temperature,radiation and convection heat on physical properties of the material. The flow field and the growth pattern of the weld pool were analyzed,and the weld pool geometry under different welding currents was compared. The results show that,the thin metal was preferentially penetrated,and with the welding process the weld width expanded until the weld beam was fullpenetration. The heat affected zone was got from weld experiments,its shape and size agreed well with the simulation results,which verifies the validity of the theoretical analysis.

Numerical and experimental investigations of weld pool geometry in GTA welding of pure aluminum

A 2-D numerical model was developed to predict the shape of weld pool in stationary GTA welding of commercial pure aluminium, without considering fluid flow in the weld pool. A Gaussian current density and heat input distribution on the surface of the workpiece were considered. The parameters of Gaussian distribution were modified by comparing calculated results with experimental ones. It was found that these distribution parameters are fimctions of applied current and arc length. Effects of arc length, applied current and welding time on the geometry of the weld pool were investigated. To check the validity of the model, a series of experiments were also conducted. In general, the agreement between calculated overall shape of the weld pool and the experimental one was acceptable, especially in low applied currents. Therefore, it can be concluded that in pure aluminium, the heat conduction is dominant mechanism of heat transfer in the weld pool.

Vision sensing of P-GMAW weld pool using narrow band filters with different center wavelengths

The selection of narrow band filter＇s center wavelength has an important influence on the quality of the weld pool image captured in passive vision mettmd for controlling arc welding process. In this paper, 29 narrow band filters with different center wavelengths ranging from ultraviolet to near infrared wavelength were used to capture images of weld pool during both the peak current period and the base current period of P-GMA W （ pulsed gas metal arc welding）. The experimental results showed that the filters with near infrared center wavelength could weaken the arc most during the peak current period, while during the base current period the entire weld pool could be seen with the filters with wavelength above 600 nm. The camera spectral response and the radio of arc to weld pool emission were considered to analyze the phenomenon of experimental results.

Numerical simulation on the shape of liquid surface of TIG full-penetrated weld pool

Based on the analysis of the three-dimensional liquid surface behavior of TIG penetrated weld pool,the three-dimensional shape models of weld pool with different values of the back fusion zone radius RB were obtained.The effects of arc on the penetrated weld pool were studied by numerical simulation with finite elements analysis software Surface Evolver.The results show that the size and shape of the back weld pool are not affected obviously by the arc,and the top surface of the weld pool is lowered by arc.From pulse background to pulse peak,the increase of the arc voltage(or the arc light intensity) is due to two factors.One is the increase of the current,and the other is the lowering of the top weld pool surface.

Prediction and verification of melting front in GTA weld pool of full-penetration

A thermal conduction model is applied to speed up the numerical analysis of the temperature distribution and the weld pool geometry of full penetration in gas tungsten arc （GTA） welding. With considering both top and bottom flee surface deformation of full-penetrated weld pool, three-dimensional weld pool with melting front and solidification front is predicted. Welding experiments are conducted to measure the melting front curves at the top surface and the longitudinal section of the weld. It shows that the predicted and measured results are in good agreement.

Weld pool boundary and weld bead shape reconstruction based on passive vision in P-GMAW

A passive visual sensing system is established in this research, and clear weld pool images in pulsed gas metal arc welding （ P-GMA W） can be captured with this system. The three-dimensional weld pool geometry, especially the weld height, is not only a crucial factor in determining workpiece mechanical properties, but also an important parameter for reflecting the penetration. A new three-dimensional （3D） model is established to describe the weld pool geometry in P-GMAW. Then, a series of algorithms are developed to extract the model geometrical parameters from the weld pool images. Furthermore, the method to reconstruct the 3 D shape of weld pool boundary and weld bead from the two-dimensional images is investigated.

PCNN based image processing and feature extraction of dual-bypass gas metal arc weld pool

In manual welding process, skilled welders can adjust the welding parameters to ensure the weld quality through their observation of the weld pool surface. In order to acquire useful information of the weld pool for control of the welding process and realizing the automatic welding, the measurement system of DB-GMA W process was established and the weld pool image was obtained by passive vision. Then, three image processing algorithms, Sobel, Canny, and pulse coupled neural network （PCNN） were detailed and applied to extracting the edge of the DB-GMA weld pool. In addition, a scheme was proposed for calculating the length, maximum width and superficial area of the weld pool under different welding conditions. The compared results show that the PCNN algorithm can be used for extracting the edge of the weld pool and the obtained information is more useful and accurate. The calculated results coincide with the actual measurement well, which demonstrates that the proposed algorithm is effective, its imaging processing time is required only 20 ms, which can completely meet the requirement of real-time control.

Analysis of weld pool vibration characteristics in pulsed gas metal arc welding

Using highspeed camera image measuring and processing,the contour of the weld pool was extracted accurately in pulsed metal inert gas(P-MIG)welding.Based on this extraction method,time and frequency domain characteristics at different points along the contour of the weld pool were analyzed for one pulse one droplet and one pulse two droplets,respectively.The results show that,because of the wave super position that was created by the pulsed arc and droplet impacting the weld pool,the oscillation amplitude along the weld pool fluctuated and decreased with an increase in distance from the point to the arc center.The oscillation near the arc center was complex and intense for one pulse two droplets,and the amplitude were relatively small because the oscillation caused by the pulsed arc could be offset by the molten droplet impact.The weld pool oscillation that was caused by the pulsed arc was stronger than that caused by the droplet.

Predicting the occurrence tendency-of burn-through for fully-penetrated GTA weld pool

The forces acting on a gas tungsten arc （GTA） weld pool are analyzed. A model of static force condition for fullypenetrated weld pool is developed, and the criterion is set up to judge and evaluate the occurrence tendency of burn-through defect. Transient variations of the forces affecting the surfaces deformation and collapsing of weld pool are computed, and the percentages of their influencing roles are obtained. For specific material and workpiece thickness, the threshold values below which the burn-through phenomenon does not occur are determined, and compared with the experimental results.