窄间隙磁控-激光复合式焊缝跟踪方法  

Narrow gap magnetron-laser composite weld seam tracking method

作　　者：沈言锦 洪波[2] 杨鹏昊[2] 郭韬 SHEN Yanjin;HONG Bo;YANG Penghao;GUO Tao(Hunan Automotive Engineering Vocational College,Zhuzhou 412001,China;Hunan Provincial Key Laboratory of Welding Robots and Applications,Xiangtan University,Xiangtan 411105,China)

机构地区：[1]湖南汽车工程职业学院,湖南株洲412001 [2]湘潭大学焊接机器人及应用湖南省重点实验室,湖南湘潭411105

出　　处：《电焊机》2019年第12期32-36,共5页Electric Welding Machine

基　　金：湖南省自然科学基金项目(2017JJ50)

摘　　要：针对窄间隙焊接需要精确的焊缝偏差信息以保证焊枪对中的问题,设计了一套磁控电弧-激光传感器相结合的焊缝跟踪系统,由前置的激光视觉传感器扫描焊缝中心,采用形态提取算法和基于Kernel算法的相关滤波器得到焊缝特征点的坐标,经拉格朗日插值法处理,拟合出焊缝轨迹的近似曲线,设定门限阈值分两种情况采用双传感器数据自适应加权融合方法进行信息融合,使得焊缝偏差信息更为精确,最终保证焊枪的对中和侧壁良好融合。For narrow gap welding,precise weld deviation information is needed to ensure the problem of welding gun alignment.A magnetic tracking arc-laser sensor combined weld seam tracking system is designed.The front laser vision sensor scans the weld center and adopts the shape.The extraction algorithm and the correlation filter based on Kernel algorithm can obtain the coordinates of the weld feature points.The Lagrange interpolation method is used to fit the approximate curve of the weld trajectory.The threshold threshold is set in two cases.The adaptive weighted fusion method performs information fusion,which makes the acquired weld deviation information more accurate,and finally ensures the centering of the welding torch and the good sidewall fusion.

关 键 词：窄间隙MAG焊 磁控电弧激光传感器 焊缝轨迹预测 自适应加权融合方法 

分 类 号：TG409[金属学及工艺—焊接]