一种结构光式焊缝跟踪系统的设计

A kind of automatic tracking system of welding seam basing on structure light

为了提高焊接的自动化水平,快速准确的焊缝跟踪是一个难点。因此设计了一种基于结构光的焊缝跟踪系统,针对典型的焊缝形式(V型、I型、搭接、角接、对无间隙对接纵/环缝)分别采取不同的图像处理流程,能够快速获取跟踪点,尤其是对无间隙对接纵/环缝的图像处理采用了垂直Sobel和垂直腐蚀等算法,实现了对接焊缝中心线的准确提取;利用伯德图法求取机电系统的传递函数,能够稳定的传动控制。实验结果表明,本系统能快速、准确地跟踪焊缝。

For automatic welding,fast and accurate seam tracking is an important means.In this paper,a kind of automatic tracking system of welding seam basing on structure light is implemented.To extract seam information reliably ,special image process methods are used for the typically welding seams （V-Groove, Butt, Left/Right Lap, Fillet, Height only）.For Height only, the central line of the seam was fitted by using vertically Sobel operator, vertically erosion and others.The transfer funcion was solved by Bode Diagram,which is the base of the steady driving control. Experiments indicate that this system satisfies requirement of real-time seam tracking.