基于无线遥控与视觉跟踪的焊接控制系统

为解决焊接工程现场有线示教器操作不便、传统模板匹配方法受电弧与飞溅干扰而导致跟踪稳定性差等问题,设计了一种基于无线遥控与视觉跟踪的焊接控制系统。首先,设计了包含视觉单元、控制单元和执行单元的嵌入式PC无线控制系统,实现图像采集处理和焊缝跟踪偏移信息计算,并控制焊机机器人执行相应的动作。然后,采用了粒子滤波跟踪算法进行焊缝跟踪,该算法通过粒子滤波对图像大目标区域进行搜索,减少焊缝位置发生突变或焊缝图像缺失时跟踪失效的问题,确保视觉单元能够在强烈噪声干扰下快速、准确地识别焊缝特征位置。焊接测试结果表明,本系统纠偏误差小于0.12 mm,且操作方便、稳定性好、纠偏精度高、焊接表面成型质量良好,满足管道焊接的工艺要求。

Welding control system based on wireless remote control and visual tracking

In order to solve the problems of inconvenient operation of wire teaching device in welding engineering site and poor tracking stability caused by arc and spatter interference of traditional template matching method,a welding control system based on wireless remote control and visual tracking is designed.First of all,an embedded PC wireless control system including vision unit,control unit and execution unit is designed to realize image acquisition and processing and calculation of weld tracking offset information,and to control the welding machine robot to perform the corresponding actions.Then,a tracking algorithm based on particle filter is proposed,which searches the large target area of the image by particle filter to reduce the tracking failure,when the weld position is abrupt or the weld image is missing,to ensure that the visual unit can quickly and accurately identify the weld feature position under strong noise interference.In the welding test,the system has the advantages of convenient operation,good stability,high deviation correction precision,good welding surface forming quality,and meets the technological requirements of pipeline welding.