Study On Automatic Driving Device For Weld Inspection Of Emu

Welding is one of the most important processing methods used in the manufacturing and processing of EMUs.The quality of the welding directly affects the performance of the workpiece to be welded,and today's welding process will inevitably cause some weld defects.The defects of the EMU car body welding seam may cause fatigue cracks in the EMU during high-speed operation and eventually lead to serious consequences.Therefore,the quality inspection of the EMU car body weld seam has always been an important process in the EMU manufacturing process.After the EMU car body weld seam is processed,there is no obvious welding trace on the surface,which increases the difficulty of weld seam detection.Therefore,at present,the use of manual hand-held inspection equipment for welding seam inspection is time-consuming and laborious.Based on the above background,this paper proposes an automatic drive for welding flaw detection,which is used to carry out welding seam inspection equipment for independent inspection of welding seams.The main research work completed includes:First,the design scheme of the welding seam detection driving device is proposed.The whole device is divided into two parts: host and slave computers.The function of each module of the host and slave computer is introduced in detail,and the chassis of the four Mecanum wheels of the lower computer is analyzed kinematically and calculated by odometer.Secondly,an incremental PID control algorithm is proposed for closed-loop control of the chassis speed and simulation verification is carried out;the autonomous positioning algorithm of the host computer,Gmapping,is analyzed and verified in detail,and the A * global path planning algorithm is designed and introduced And DWA local path planning algorithm,and simulation experiments.Subsequently,the hardware platform and software system of the upper and lower computer of the weld detection drive device were designed.The lower computer introduced the parameters and hardware circuits of each module based on STM32,and carried out corresponding software design,developed acceleration acquisition,communication between the upper and lower computer,Drive system speed control and other subsystems;the host computer is based on the Raspberry Pi,and the host computer software is written through the ROS platform under Ubuntu to complete the lidar driver program and compile and realize the communication with the lidar;use the ROS platform Gmapping software package Lidar data realizes mapping and real-time positioning,develops A * algorithm and DWA algorithm program,realizes global path planning and local path planning,and reserves interfaces for weld inspection equipment to realize data transmission of weld inspection equipment;Finally,the basic functions of the host computer,the serial communication of the host and slave computers,and the function of drawing and navigation of the drive device were tested and verified,indicating that the function of the drive device was basically completed and reached the expectations.