Research On Weld Seam Tracking System Based On Machine Vision

The use of welding automation equipment instead of manual welding can solve this problem,because traditional manual welding has problems such as low production efficiency and harsh environment.Weld seam automatic tracking technology is the basis and key to achieve welding automation.Welding sensing technology is the precondition for automatic tracking of welds.Compared with ultrasonic,arc and other sensing technologies,structured light vision sensing relies on large amount of information acquired,high sensitivity and measurement accuracy,strong electric field resistance and strong resistance.The strong magnetic field has strong interference ability and is suitable for different forms of welds.It has become a hot research object of weld seam tracking researchers.Automatic seam tracking plays a key role in achieving welding automation.This paper focuses on the automatic weld seam tracking technology,and combines the working principle of the weld seam tracking system to analyze the different sensors in the actual welding structure.The advantages and disadvantages of the application,considering the technical difficulties and development status of the vision sensor application,finally divided the whole system into three parts: vision system,motion control system,walking mechanism.Among them,the vision system adopts the structured light method,which makes the camera and the line laser package together;the motion control system mainly includes the image acquisition card,the motion control card,the industrial control machine and the professional software of the weld seam tracking;the traveling mechanism is composed of the servo system and the transmission Institutional composition.The weldment is placed on the platform,the line laser in the vision sensor is irradiated on the weldment,a line laser is formed on the surface of the weldment,and the camera in the vision sensor acquires the weld image with the laser line and transmits theimage to The industrial computer and the industrial computer use the well-preserved weld tracking professional software to image the image,image binarization,contour extraction,centerline extraction,and center point positioning,and obtain the coordinate position of the weld center point.The position of the current welding torch is compared to determine the deviation amount,and then the deviation is converted into the number of pulses driving the servo system by the designed fuzzy control algorithm.The number of pulses is converted into a control signal and transmitted to the servo system as an actuator.The servo system is based on The control information completes the position adjustment of the welding torch,and finally realizes the effect of real-time tracking of the weld.After the system was built,two experiments were performed.The first experiment is the seam tracking experiment.The spot laser is used to replace the welding torch,and the points to be welded are marked on the welded parts.The simulated welding experiment is completed and the experimental data is recorded.The experimental results show that the accuracy and stability of the system meet the design requirements.The actual welding experiment can be carried out;on the basis of the previous experiment,the spot laser is replaced by a welding torch for the actual welding experiment.The experimental results show that the system can clearly identify the weld and complete the welding process.Automatic tracking.