集装箱数控焊机传感器数据融合

集装箱专用数控焊机由多传感器系统、计算机控制系统、步进电机驱动系统组成.而多传感器系统的数据处理是该焊机关键问题,集装箱底板和侧板的焊缝是折线焊缝,由于集装箱底板和侧板的焊缝长度为12 m,且存在加工、装配误差,焊接变形,必须对焊缝进行实时跟踪.该系统由激光传感器和高精度超声波传感器构成,在平直段采用超声波传感器测距,而折线处采用专家系统对两个传感器采集到的信号进行数据融合,从而做出决策,控制焊枪姿态的改变,达到连续自动焊接.通过试验,分别得到两种传感器信号,对比两种传感器的信号特征,找出信号间的规律,采用专家系统对传感器信号进行融合,从而能进行有效跟踪.该自动焊机的数据融合方法为以后各种曲线焊缝跟踪的研究提供切实可行措施.

Data fusion of multi-sensor in container NC welding machine

Container NC welding machine includes multi-sensor system, computer control system and step motor drive system. Data process in multi-sensor is the key part of this mechine.Container floor and the sidewall weld is broken line.For the weld is 12 meters long, and allowance exits in machine and fix, and welding induces deformation, therefore automatic welding must take action of the seam track.The multi-sensor system consists of laser sensor and high-precision ultrasonic sensor, for straight bead ultrasonic sensor controls the distance from welding torch to side wall.While for the turn corner bead the system uses expert system for data fusion of two sensor signals and a find decision is made.Torch position can be adjusted in order to weld continuously.It can also provide a theoretical foundation for the various curves seam tracking study in the future.