基于图像处理的相贯线焊缝轨迹跟踪系统研究

The Research on the Trajectory Tracking System of Intersecting Line Weld Based on the Image Processing

相贯线焊接是实际生产中常见的典型焊接形式,但其焊接难度较大,焊接精度不高。为了提高焊接质量,以相贯线焊缝为研究对象,采用视觉传感器进行焊缝识别和轨迹跟踪,为解决机器人焊接过程中焊缝轨迹跟踪精度不高的问题,对轨迹跟踪系统进行了控制设计,采用自适应模糊PID的控制方法对控制器进行设计,最后进行Matlab仿真。仿真结果表明,该方法具有良好的自适应性,能够实现焊缝的快速准确跟踪。

Intersecting line welding is a common typical welding form in actual production,but its welding is difficult and its welding accuracy is not high.In order to improve the welding quality,taking the intersecting line weld as the research object,the visual sensor was used to identify and track the welding seam.In order to solve the problem that the tracking accuracy of the welding seam was not high in the welding process of the robot,the control design of the trajectory tracking system was carried out,the adaptive fuzzy PID control method was used to design the controller,and the Matlab simulation was carried out.The simulation results show that the method has good adaptability and can realize fast and accurate tracking of welding seam.