基于视觉与重力融合传感的焊枪位姿反馈控制

Position and pose feedback control of welding torch based on the fusion of vision and gravity sensing

为了实现焊缝跟踪、焊枪高度及其空间姿态的检测和闭环反馈控制,有效控制任意空间姿态焊接接头的焊缝成形质量,构建了基于视觉传感与重力感应融合的焊枪空间位置、姿态在线检测与闭环反馈控制系统;结合建立的检测数学模型,检测系统实现了对焊枪相对于工件的空间位置和姿态、焊枪相对于重力加速度方向的空间姿态、焊接接头相对于重力加速度方向的空间姿态的在线实时检测.结果表明,系统实现了焊枪空间姿态的实时反馈控制,控制精度可达0.1°,并实现了电弧焊接过程中的焊缝横向实时跟踪和焊枪高度实时调控,焊缝横向跟踪与焊枪高度调控的平均偏差分别为0.20和0.78 mm.实现任意空间姿态焊接接头的自动化焊接,可有效提升焊接装备的智能化水平.

In order to realize seam tracking,detection and closed-loop feedback control of welding torch height and its spatial pose at the same time,which effectively controlled the weld forming quality of welded joints with any different spatial pose,this paper constructed an on-line detection and closedloop feedback control system of welding torch spatial pose and position based on vision and gravity fusion sensing.Combined with the mathematical detection model,the detection system realized the online real-time detection of the spatial position and pose of the welding torch relative to the workpiece,the spatial pose of the welding torch relative to the direction gravitational acceleration,and the spatial pose of the being welded joint relative to the direction of gravitational acceleration.Results showed the system realized the real-time control of the welding torch spatial pose with an accuracy of0.1°,and the real-time weld seam lateral tracking and the realtime welding torch height control in the arc welding process with the average deviation of 0.20 mm and 0.78 mm,respectively.Realizing the automatic welding of welded joints with any spatial pose can effectively improve the intelligent level of welding equipment.