Self-Adaptive Welding Seam Tracking System Based On Vision

In order to solve the problem of poor welding quality due to the size inhomogeneity of V-groove in V-groove weld tracking,a set of vision-based seam tracking system is designed.According to the development history of seam tracking at home and abroad,the paper introduces the reasearch significance of welding seam tracking and put forward to slove the problem of poor weld quality in V-groove welding.The system,which uses C++ and Qt to build software development platform,and uses human-computer interaction interface to achieve software development platform and control the movement of the card to communicate,plays a role in the correction through the output devication calculated and output by image processing.In this system choice red structure light to used as a support light in welding seam tracking system,And the difference of the image of the weld seam under different auxiliary light is compared,and finally the green light is selected as the best auxiliary light sourceThe system adopts CCD linear array image sensor for weld seam image acquisition,and uses image algorithm library to analyse the collection of welds,in order to enhance the image edge information to suppress the noise and find an appropriate filter operator.In order to obtain accurate weld edge information and reduce the computational complexity of the weld image processing computer,a suitable binarization threshold is obtained by analyzing the grayscale histogram of the weld image for image binarization.For the calculation of the center position of the weld,an algorithm based on the recursive calculation of the midline of the weld profile is proposed to obtain the exact weld position.the system uses the driver and the feedback data of grating ruler for comparison,and the automatic feedback compensation for motor is realized to guarantee a certain absolute accuracy.For the verification of the absolute accurary,the verification experiment is designed to calculate the absolute accuracy of the system through the X,Y,Z triaxial traved volume comparison.In the system the use of servo motor system combined with grating ruler achieves the complete closed-loop control and improves the system repeatability.For the measurement method of repeatability,it is proposed to use the coaxial confocal white light sensor to measure the height by using the principle of white light interference reflection wavelength,so that the repeatability verification is more convenient and accurate.