基于摆动旋转电弧的焊枪空间姿态识别  

Recognition of spatial attitude of welding torch based on swing of rotating arc

作　　者：李湘文[1] 洪波[1] 尹力[1] 洪宇翔[1] 

机构地区：[1]湘潭大学机械工程学院,湘潭411105

出　　处：《焊接学报》2013年第4期35-37,52,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50975243);湖南省教育厅重点资助项目(11A114);湖南省研究生科研创新资助项目(CX2012B257)

摘　　要：通过对现有电弧传感器的扫描信号进行深入研究,提出了一种摆动旋转电弧传感器,在分析其信号特点的基础上,推导出焊枪空间姿态与弧长变化之间的数学关系,建立了该电弧传感器的弧长数学模型.考虑到焊接电弧信号的特点与复杂性,采用了Gabor小波滤波器来消除信号中的噪声干扰,并对滤波后的采样数据进行了特征向量提取,降低了数据的维度,根据欧式距离的原理设计了焊枪姿态分类器,采用模型参数的最速下降法对焊枪的空间姿态进行了实时识别.结果表明,摆动旋转电弧传感器的焊枪空间姿态识别算法简单、获取信息量大,为提高焊缝跟踪的精度提供了理论依据.Based on researches on scanning signal of existing arc sensors, a kind of oscillating rotating arc sensor was put forward. After analyzing the signal characteristics of the new arc sensor, the mathematical relationship between spatial attitude of welding torch and the change of arc length was deduced, and a mathematical model was established for the arc length. Considering the characteristics and complexity of welding arc signal, the Gabor wavelet filter was used to eliminate the noise interference, and the feature vector was extracted from the sample data after filtering, and the dimension of data was reduced. The classifier of welding torch attitude according to the principle of Euclidean distance, real-time identification of the spatial attitude of welding torch was conducted with the steepest descent method of model parameters. The results show that the algorithm for recognition of spatial attitude of welding torch with swing of rotating arc sensor was simple and provided theoretical basis for improving the precision of welding seam tracking.

关 键 词：焊缝跟踪 摆动旋转电弧 焊枪姿态识别 GABOR小波 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]