摘要
为实现塔吊臂架角钢外角接接缝的自动化焊接,设计了一套具有可靠性高、能够在工业现场长期应用的激光视觉焊缝跟踪系统。介绍了系统的组成和工作原理。根据外角接接头几何特点,设计了一套专门图像处理算法,能够快速准确可靠地提取焊缝特征和中心位置,并对焊缝中心检测结果进行数字滤波,以提高抗干扰性。在焊枪纠偏控制中,针对检测传感器前置的特点,水平方向的焊缝跟踪采用一种基于实时焊缝斜率的跟踪算法,并运用PD算法进行焊枪调整;针对高度方向上的焊缝跟踪特点,采用带智能积分的模糊控制器进行焊枪调整。经现场试用表明,该系统运行稳定,能够满足焊接精度要求,具有较高的实用价值。
To realize automatic welding in the tower crane manufacture ,a high reliable and durable laser vision based seam tracking system is proposed for welding of the external fillet joint between angle steel of arm frame.This paper simply introduces hardware constitutes and working principle.With a particularly designed image processing algorithm,characteristics and centre position information of groove can be calculated quickly and exactly,and the result measured is denoised with digital faltering.To the leading sensor,a tracking method through calculating seam track slope is put forward and PD control algorithm is applied in horizontal direction, and a fuzzy controller with intelligent integration is designed in vertical direction.Practices show that the system can run steadily,and the tracking precision satisfies the need of welding quality completely.It is highly practical.
出处
《电焊机》
北大核心
2009年第9期29-33,共5页
Electric Welding Machine
基金
广西教育厅科技资助项目(200808LX371)
关键词
激光视觉
图像处理
焊缝跟踪
laser vision
image processing
seam tracking
