Study On Underwater Robotic Control System Of Weld Tracking

With the beginning of the marine activities, large ships, submarine pipeline, bridge emerge in large numbers. Their construction and maintenance are closely related to underwater welding technology. Welding mobile robot because of its mobility, strong magnetic adsorption capacity, has become an effective way to solve the automatic welding of the large components welding line. In order to realize the intelligent of welding robot, this paper has designed a robot control system. So that the robot can independently identify the target, reliable detection and location information of it, and guide the movement of the torch along the weld path. The system base on mobile platforms, two dimensional sliders as bias adjustment and the laser vision sensor for weld deviation detection device.First, we design the hardware and develop the software of robot control system. A set of close-looped control system based on programmed logic controller (PLC) is designed. The system adopting the touch plane as main interface has a friendly man-machine interface. The operation of robot becomes very convenient.Secondly, it is difficult to establish a precise mathematical model for the welding robot. On the control method, use horizontal slider real-time accurate tracking weld and crawling car rough track the welding line in wide range. The horizontal slider adopt2degrees of freedom PID control algorithm. The crawl car using fuzzy theory control algorithm.Thirdly, though experiment results show that the feasibility and validity of this research work. In addition, the designed arc welding seam tracking system was tried out in Jiujiang Tongfang Jiangxin Shipyard Co., Ltd, and anticipant result is acquired.Finally, conducted a preliminary study on the initial weld position recognition on land. Design a set of image processing algorithms. It can separate, identificate,and extracte the initial position of weld tracking very well.