Research On Automatic Tracking System Of Submerged Arc Welding Based On Two-line Laser Sensor

In view of the shortcomings of current submerged arc welding based on spot laser or single line laser for seam tracking,That is to say,point laser weld tracking automation is low,While the single-line laser weld tracking there is a pre-error and a high degree of deviation recognition accuracy is low.A scheme is proposed that two-wire laser vision sensor for submerged arc welding seam tracking.In this paper,having carried out research on submerged arc welding based on two-wire laser weld tracking technologyFirst of all,based on the existing submerged arc welding car,have improve its structural and control.In structure.Designed the torch head horizontal and vertical direction of the transmission system,So that the welding gun in the horizontal and vertical direction of the adjustment from the manual to automatic.In Control,By the motherboard PCM-3362,motion control card,image acquisition card to build a submerged arc welding seam automatic tracking hardware control system.At the same time,the automatic tracking software control system of submerged arc welding seam was developed based on VC++6.0 development platform.Secondly,have designed a small,compact two-wire laser vision sensor.According to the design requirements to determine the sensor shell and the internal CCD and laser,And establishes the two-line laser vision sensor lateral deviation,height deviation and spatial deviation extraction mathematical model,At the same time,have studied the transverse deviation,height deviation and spatial deviation extraction algorithm.Once again,have processed double-line laser vision sensor made of double stripe weld image based on VC++6.0.The image processing method has a smoothing filter combined with a two-dimensional fractional-order Kalman filter for image enhancement.KSW entropy algorithm to determine the binarization threshold,Krisch operator edge extraction,Column search method to center sampling and slope analysis to feature point detection.The Fuzzy control method is adopted for the weld deviation obtained by image processing.The results show,Processing a frame time is about 20 ms,Meet the weld tracking real-time requirements.Finally,Weld tracking experiment.Have analyzed the precision of the image processing algorithm at the same time,the automatic tracking of the weld was carried out,Finally,a welding test was conducted with lateral deviations,height deviations,and elevation of the elevation.The results showed that the image processing accuracy is high,tracking test results better and welding quality is good..