基于3D激光扫描传感器的焊缝区域跟踪方法设计

一般二维数据传感器在智能焊接领域应用中,跟踪焊缝区域时,焊接枪抖振会导致跟踪误差大的问题,提出基于3D激光扫描传感器的激光焊缝自动跟踪方法,应用3D激光扫描传感器获取到完整的激光焊缝3D位置数据。对采集到的焊缝位置信息展开全局最优解处理,提取激光焊缝的相关特征。对激光焊缝跟踪相关的距离特征进行分类处理:设计模糊跟踪算法,利用基本论域方法建立目标边缘特征模型,调整激光焊缝隶属度参数,实现目标融合特征分类。在激光焊缝特征分类的基础上,利用变论域理论提高焊接跟踪控制准确率和焊缝成形检测效率,完成焊缝区域的控制跟踪,实现无人化焊接。实验结果表明:这种方法在减小跟踪误差中有明显的效果。

Design of seam tracking method based on3D laser scanning sensor

In general,two dimensional data sensors are used in the field of intelligent welding,where tracking of the weld seam area can lead to large tracking errors due to welding gun vibration.In this paper,a laser weld seam automatic tracking method for laser weld seam based on 3D laser scanning sensor is proposed,applying the 3D laser scanning sensor to obtain the complete 3D position data of laser weld seam.The collected weld position information is processed by the global optimal solution to extract the relevant features of the laser weld.The distance features related to laser weld seam tracking is classified.And a fuzzy tracking algorithm is designed to establish the target edge feature model using the basic universe method,to adjust the membership parameters of laser weld seam,and to achieve target fusion feature classification.On the basis of laser weld feature classification,the variable universe theory is used to improve the accuracy of welding tracking control and the efficiency of weld shape detection,to complete the control tracking of the weld area,and to realize unmanned welding.The experimental results show that this method has a significant effect in reducing the tracking error.