Research Of The Spiral Pipe Seam Tracking Technology Based On Lasor Vision Sensor

The spiral pipe seam tracking system can enhance efficiency, optimize product quality and improve work conditions in the spiral pipe production. Enrusted by Taian Steel Technology limited company, this thesis is to develop a spiral pipe seam tracking system based on laser stripe-sensors, of which the company will have independent intellectual property rights.In terms of the principles of analyzing systems, under domestic and international research situation, this thesis has developed a hardware structure of the seam tracking system, which maintains the practical conditions and requirements of the company. The necessary hardware devices were purchased for the project.The thesis is focused on the algorithm of the groove recognition and the calibration of the three-dimensional (3D) laser visual model. For the groove recognition algorithm, a fast and effective OSTU image segmentation method is introduced based on the current algorithms. The methods of weighted centroid, morphological filtering, and slope analysis are used to extract the feature points of the groove. Visual C++ and OpenCV are used for the programming. For the calibration of the 3D laser visual model, an easy and effective 3D laser visual calibration model is used. The SVD method based on the RANSAC algorithm is used to solve the problem. BP neural network is also used to solve the 3D laser visual model. The programming tool is MATLAB. The final results of both models are good enough to get the world coordinates of the groove feature points, which are used to obtain featured information of the groove.The overall framework of the host-computer software is also designed according to the situation of the welding site. The preliminary human interface of the system is implemented by Visual C++. In addition, serial communications between the host-computer and the console-computer are discussed in detail. The communication program of the host-computer is completed by MSComm controls of Visual C++, and the communication program of the console-computer is completed by free ports communication mode of S7-200 PLC.