光学精密工程2016，Vol.24Issue(11)：2689-2698,10.DOI:10.3788/OPE.20162411.2689
焊缝跟踪应用的线激光视觉伺服控制系统
Line laser visual servo control system for seam tracking
摘要
Abstract
A real-time seam tracking system consisting of a three-axis cartesian robot ,a line laser sensor ,and an industrial computer was designed and its measuring principle ,feature point measuring method and adaptive fuzzy control were researched .The Guassian Kernelized Correlation Filter (KCF) was adopted to detect the weld feature points in real time in welding process and 3D coordinate values of industrial camera were obtained by 2D pixel coordinate values based on measuring principle .A adaptive fuzzy controller was designed .On the basis of the adaptive fuzzy controller ,the deviation values and deviation rate of the coordinate system were calculated to obtain the control values of movement trajectory for torch end . Meanwhile , the inputs and outputs on the domain and fuzzy membership functions of fuzzy controller were updated in real time .The experiments on seam tracking were performed .The experimental results show that the system realizes accurate seam tracking in real-time under the conditions of strong arc light and splash when the largest welding current is 350 A in Metal-Inert Gas Welding (MIG ) . The tracking error is less than 0 .325 3 mm and the metrical frequency of sensor is up to 20 Hz .In welding processing ,the end of the torch runs smooth the weld trajectory can be tracked accurately and the system shows strong anti-interference ability ,so it meets the requirements of welding applications .关键词
线激光传感器/焊缝跟踪/自适应模糊控制/焊缝特征点/高斯核相关算法Key words
line laser sensor/seam tracking/adaptive fuzzy control/weld feature point/Guassian kernelized correlation filter分类
信息技术与安全科学引用本文复制引用
邹焱飚,王研博,周卫林..焊缝跟踪应用的线激光视觉伺服控制系统[J].光学精密工程,2016,24(11):2689-2698,10.基金项目
国家科技重大专项基金资助项目 （）
