一种紧凑式柔性化焊缝视觉跟踪系统

A Compact and Flexible Welding Seam Visual Tracking System

针对现有焊缝视觉跟踪装置结构尺寸大及跟踪高度不可变使其应用场合受限的弊端,研究一种紧凑式柔性化焊缝视觉跟踪方法。首先,研究紧凑式柔性化焊缝视觉跟踪原理并研制实物装置;其次,结合焊缝视觉跟踪装置结构参数,研究其光路调整角度与跟踪高度之间映射关系;接着,基于图像特征参数,建立焊缝三维轨迹数学模型;最后,结合实验验证该系统在不同跟踪高度下光路调整角度、焊缝三维轨迹数学模型的精确及可靠性。该研究为焊接过程的智能化、柔性化提供了理论基础及技术支持。

In response to the shortcomings of weld vision tracking device that its application is limited due to large structure size and immutable tracking height, a compact and flexible weld visual tracking method is proposed. Firstly, the principle of a compact and flexible weld visual tracking is studied and the device is developed. Secondly, the relationship between the optical path adjustment angle and the tracking height is established combined with structural parameters of weld visual tracking device. Thirdly, the three-dimensional trajectory of the weld is established based on the characteristic parameters of image. Finally, the accuracy and reliability of models that is used to describe the optical path adjustment angle under the different tracking height and the three-dimensional trajectory of the weld. It provides the theoretical basis and technical support for the intelligent and flexible welding process.