CCD焊缝跟踪超前问题的解决方法

Solution to leading problem in seam tracking with CCD

利用CCD实现焊缝跟踪虽然简便,但因观察点在焊枪的前方而存在控制超前的问题。本文提出一种新的解决方法,利用图像中已有的信息确定摄像头在跟踪过程中所改变的位移,从而得出焊枪处焊缝的实际偏移,用此偏移对焊枪进行控制,提高了测量和跟踪的精度。

Tracking welding seam with CCD is a simple and convenient method. In this way, however, the viewing position is before the torch, so there is a leading error always in the control. In this paper, a new solution is proposed, which is able to determine the displacement of CCD by measuring the displacement of the same position on the seam in the two neighbor images. Based upon that, the real excursion between the welding torch and the seam can be obtained and be used in control. By these techniques, the high precision tracking is available.