Research On Image Processing And Trajectory Control Of Welding Robot In Shield Room Of Civil Air Defense Project

Welding plays a very important role in the mechanical processing field,and is widely used in civil air defense engineering,shipbuilding,automobile processing and other fields.Influenced by the welding technology of the staff,the efficiency of manual welding is not high in situations with high repeatability of weld types and heavy welding workloads,and automatic welding equipment is gradually replacing manual welding.In this paper,the welding of the shell steel plate structure of the civil air defense engineering shield room is studied,considering the welding spatter and abnormal laser stripes to process the weld image.In order to obtain clear weld image and accurate welding gun control,the laser vision sensing part is built and the welding gun control method is studied.First,referring to the results of research on mobile welding robots,welding seam image processing and welding gun control at home and abroad,an experimental platform for mobile welding robots was built with the function of detecting and tracking welding seams.For the interference of sparks,smoke and arc light in the welding process,select the appropriate equipment layout structure,add a composite filter system,baffles and soot to help obtain effective welding drawings.The second is to write a welding seam image processing program,which aims at the problem of unequal height of workpieces and incomplete display of cross weld laser stripes in engineering welding,writes a feature point extraction algorithm to help extract weld feature points.Thirdly,the man-machine interface,main control board circuit and main control board program of the welding seam tracking control system are compiled and designed,and the deviation in the welding torch control is adjusted by using the self-adjusting scale factor fuzzy proportion compound control.Finally,by simulating the layout and abnormal conditions of the workpiece in the actual welding process,the welding scene was set up and welding experiments were carried out.Finally,a good welding effect was obtained.The designed welding robot can meet the needs of welding in actual projects.