微间隙焊缝磁光成像卡尔曼滤波跟踪算法  

Micro-gap Weld Tracking Based on Kalman Filtering of Magneto-optical Images

作　　者：高向东[1] 莫玲[1] 萧振林 陈晓辉 

机构地区：[1]广东工业大学机电工程学院,广州510006 [2]广州番禺高勋染整设备制造有限公司,广州511400

出　　处：《机械工程学报》2016年第4期67-72,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51175095);广东省学科建设科技创新(2013KJCX0063);广东省重大科技专项(2014B090921008);广州市科学研究专项(1563000554);广东省自然科学基金(10251009001000001);广东省协同创新与平台环境建设专项(503149102077);佛山市科技创新专项资金(2014AG10015)资助项目

摘　　要：在激光对接焊过程中,实时控制激光束准确对中焊缝是保证焊接质量的前提。针对紧密对接激光焊,研究一种用于微间隙(不大于0.1 mm)焊缝位置识别及跟踪的磁光成像卡尔曼滤波算法。采用磁光传感器实时获取焊接区域的微间隙焊缝磁光图像序列,利用微间隙焊缝磁光图像的灰度梯度特征提取焊缝位置坐标。以焊缝位置及位移量构成状态矢量,建立描述焊缝位置的状态方程和测量方程。同时,假设系统动态噪声和测量噪声为零均值随机分布的高斯白噪声,建立噪声环境下的卡尔曼滤波跟踪算法,计算最小均方差条件下焊缝中心最优预测值,减小系统噪声和过程噪声对焊缝位置测量的影响。试验结果显示,该方法能有效实现激光对接焊微间隙焊缝位置的识别与跟踪。It is required that the laser beam focus spot be controlled to follow and track the weld joint accurately during butt joint laser welding.An approach for detecting and tracking the micro-gap（whose width is less than 0.1 mm） weld position based on Kalman filtering during butt joint laser welding is presented.A magneto-optical sensor is used to capture the micro-gap weld image sequence,and the weld position coordinate is extracted by analyzing the gray scale gradient feature of images.The state equation and measurement equation for weld position are established based on the eigenvector derived from the weld position and displacement variables.Considering that the system dynamic noise and measurement noise are Gauss white noises with zero mean random distribution,a Kalman filter algorithm is established,which could reduce the influence of system and process noises on the weld position measurement.The optimal state estimation of weld centre ordinates could be obtained through the optimal state estimation of weld position under the least squares condition.Laser welding experimental results show that the proposed method could accurately predict the micro-gap weld position during the butt joint laser welding.

关 键 词：微间隙焊缝 卡尔曼滤波 跟踪 磁光图像 

分 类 号：TG409[金属学及工艺—焊接]