基于单目线性结构光膜式壁焊缝跟踪系统研究

Research on Membrane Wall Weld Tracking System Based on Monocular Linear Structure Light

针对锅炉行业中膜式壁焊接作业劳动强度大、生产效率低,设计了一种基于单目线性结构光的膜式壁焊缝跟踪系统。首先,设计了一种基于单目线性结构光的膜式壁焊缝检测传感器,建立了空间坐标系和相机成像坐标系下焊炬轨迹空间位姿和偏差数学模型;其次,焊接过程中,基于图像处理检测出的焊缝特征点建立了焊缝轨迹和焊缝纠偏数学模型;最后,结合图像处理检测出的焊缝特征点和焊缝跟踪控制算法,在龙门式焊接机器人平台上完成了上坡角和下坡角为30°的膜式壁焊缝焊接。实验证明,膜式壁焊缝图像处理算法能够快速准确地检测焊缝特征点,结合焊炬纠偏控制算法能够完成焊缝跟踪,跟踪精度为0.20 mm,满足实际要求。

Aiming at the high labor intensity and low production efficiency of membrane wall welding in the boiler industry, a membrane wall weld tracking system based on monocular linear structure light was designed. Firstly, a membrane wall weld detection sensor based on monocular linear structure light was designed. The space pose and deviation mathematical model of the torch trajectory in the space coordinate system and the camera imaging coordinate system were established.Secondly, during the welding process, the weld trajectory and the weld deviation correction mathematical model were established based on the weld feature points detected by image processing. Finally, combined with the weld feature points detected by image processing and weld seam tracking control algorithm, the membrane wall welding with 30° uphill and 30°downhill was completed on the gantry welding robot platform. The experiment proves that the membrane wall weld image processing algorithm can quickly and accurately detect the weld feature points. Combined with the torch correction control algorithm, the weld seam tracking can be completed, the tracking accuracy is 0.20 mm, which meets the actual requirements.