Laser-PSD视觉焊缝自动跟踪系统的研究

设计了一种扫描式Laser-PSD视觉焊缝自动跟踪系统，该系统采用激光二极管作为信号光源、1维位敏元件（PSD）为接收器件组成视觉传感器，并采用单片机作为中央控制器，传感器在坡口上方横向扫描，获得坡口的2维图形，经单片机系统处理计算得出高低、左右偏差，控制焊炬的高低，左右位置，实现了对大坡品时弧自动焊全过程的有效跟踪，通过使用，证明该系统跟踪精度高，抗干扰能力强，工作可靠，能直观显示坡口图像和跟踪状况，操作方便，对生产现场有很强的适应性。

Study on the Laser-PSD Vision Seam Tracking System

To meet the requirements of automatic seam tracking in the submerge-arc welding of a large pressure hull, an automatic seam tracking system with scanning Laser-PSD sensor has been developed. The sensor in the system consists of a Laser diode used as a light source, one-dimensional position-sensitive-detector (PSD) used as a receiver and the MCS-51 single-chip-computer used as central controller. 2-D image information of the groove is acquired when the sensor scans rectilinearly over the groove. The signal of the sensor is processed by single-chip-computer system, and then the horizontal and vertical deviations can be obtained. In the practical industrial applications, it has been proved that the system has many advantages: high precision, strong anti-disturbance ability, high reliability, and directly displaying the groove image and statement of tracking, all of which strongly satisfy the conditions of the welding production.