Study On Seam Tracking System Of The Spiral Coil Membrane Wall Based On CCD Technology

Syngas by gasifying is the clean and efficient way to utilize coal.Shell’s coal gasification technology,with the advantages of good adaptability to coals and high carbon conversion,adopts gasifier plus waste heat boiler process and represents the future direction of coal gasification.internal parts of syngas cooler(waste heat boiler)are spiral coil membrane walls.due to the complicated structure,the efficiency and quality of manufacturing have seriously impacts on the cost and delivery date of gasification equipment.In this paper,the principle of the welding seam tracking system is that the CCD vision sensor acquires the welding seam image at the front of the welding torch and the host computer calculates the position deviation between the welding torch and the welding seam center by analyzing the welding seam images.The motion controller plans the actuator motion according to the position deviation information and controls the actuator to move.Finally,the welding torch will always follow the seam center and complete the welding task.This thesis includes the following aspects: based on the analysis of current situation of manufacturing spiral coil membrane walls in SBWL,point out the shortcomings in the current welding seam tracking method,and then apply non-contact CCD technology to identify the welding seam.in the design of weld tracking system of spiral coil membrane wall,the electrical equipments related to CCD vision system have been selected and their installation has been designed;mechanical structure and electrical control software of welding seam tracking system have been improved;the calibration of visual system,the preprocessing of weld images,the binarization of weld images,and the stripe center extraction of weld information were carried out in the process of weld information identification and processing to obtain the final data of weld.used for seam tracking.finally,through the simulated experiments,the results show that the processing software of the improved design is able to identify and deal with the captured welding seam images,and then the seam tracking system sends the correct tracking information.