【摘要】 为了解决焊缝自动跟踪用光电传感器对工件表面状态敏感的问题,采用了激光结构光从前方倾斜入射、线阵电荷耦合器件(CCD)在正上方接收散射光信号的传感器光路结构。通过对传感器高度的自适应控制,有效地减小了工件表面状况对传感器检测信号的干扰。在软件的设计中,通过对传感器输出信号的数字滤波和图像处理,确定焊缝中心的位置。结合比例调节和模糊控制原理,引入Fuzzy-P双模分段控制方法,实现了在埋弧焊时对焊缝的双向实时跟踪。在水平和垂直方向的跟踪精度分别达到±0.2和±0.5mm,完全满足焊接生产的要求。更多还原

【Abstract】 Optical sensors in automatic welding seam tracking systems are sensitive to the workpiece surface condition. The sensitivity was improved by illuminating the surface with a laser at an incline to the front surface with a linear chargecoupled device (CCD) to record the light scattered from the weld surface. Distortion of the camera signal by the workpiece surface is reduced by adaptive control of the sensor height. The control system locates the weld center location by using a digital filter and image manipulation of the sensor signals. Real time automatic seam tracking in two directions during submerged arc welding is realized by combining PI adjusts with fuzzy control using the FuzzyP control method. The system tracking precisions in the horizontal and perpendicular directions are ±0.2 and ±0.5 mm, sufficiently accurate for welding production applications. 更多还原