基于嵌入式DSP视觉伺服平台的管道MIG打底焊焊缝成形控制  

Weld seam formation control of root pass for pipeline MIG welding based on an embedded DSP visual servo platform

作　　者：黄操[1] 孙振国[1] 陈强[1] 廖剑雄 王定贺 陈卫中 

机构地区：[1]清华大学先进成形教育部重点实验室,北京100084 [2]昆山市华恒焊接设备技术有限责任公司,江苏昆山215301

出　　处：《焊接学报》2009年第4期41-44,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50875147);国家863高技术研究发展计划资助项目(2007AA04Z258)

摘　　要：针对坡口加工及焊接变形等因素引起的焊缝坡口宽度不确定性变化影响焊缝成形的问题,建立了基于嵌入式DSP(digital signal processor)视觉伺服平台的管道MIG打底焊焊缝成形控制系统.所设计的视觉伺服平台采用TMS320DM642实现焊接熔池区域图像的采集与处理,采用TMS320F2812实现焊枪位姿和焊接工艺参数的实时调整.设计了专门的图像处理算法,分离并提取熔池、焊缝和焊丝的位置信息.通过对焊缝坡口宽度变化的视觉检测,实时调节焊接速度、焊枪摆动宽度和中心位置等参数,获得了外观良好、X光检验合格的焊缝成形.In the root pass of pipeline MIG welding,the unpredicted gap variation of weld seam caused by groove-preparing or welding deformation has extremely significant influence on the quality of weld seam.For this reason,a weld seam formation control system based on an embedded DSP(digital signal processor) visual servo platform was established.In the visual servo platform,TMS320DM642 has been used to grab and process the image in the weld pool area and TMS320F2812 has been used to accomplish real-time adjusting of welding torch posture and welding parameters.With a particularly designed image processing algorithm,the position information of weld pool,the weld seam and feeding wire were detached and calculated successfully.Then,according to the visual sensing results of weld seam width,real-time control of weld seam formation of root pass of pipeline MIG welding was fulfilled through the online regulation of welding parameters.X-ray test qualified weld seams with good apperearance are obtained.

关 键 词：MIG打底焊 视觉伺服 嵌入式DSP系统 熔池区域图像 图像处理 

分 类 号：TG409[金属学及工艺—焊接]