螺旋焊管预焊焊缝视觉传感跟踪技术的研究

针对螺旋焊管CO2 气体保护焊预焊生产工艺，研究了以激光为主动光源的焊缝视觉传感跟踪系统。采用自主研制的激光视觉传感器进行焊缝图像的采集，利用VC++6.0软件对图像数据进行滤波和二值化处理，消除飞溅、坡口反光、弧光等对焊缝激光条纹图像的影响，能够准确计算出焊缝偏差，从而控制焊丝对准焊缝。试验结果表明，该系统的可靠性、响应速度、检测精度均满足实际生产的要求，系统的响应周期小于60 ms，检测精度高于±0.1 mm。

Research on Visual Sensing Tracking Technology for CO2 Pre-welding Weld of SAWH Pipe

Aiming at the pre-welding process of SAWH pipe CO2 gas shielded welding， taking the laser as the initiative lightsource， the weld visual sensing tracking system was studied. It utilized VC++6.0 software to conduct filtering and binaryzation treatment， eliminate the effect on weld laser fringe image from spatter， groove reflection and arc light， and accurately calculated weld deviation， thus to control welding wire alignment to weld. The test results showed that the reliability， response speed and detection precision of this system can meet the requirements of practical production. The response cycle of the system is less than 60ms， and the tracking precision is high than 0.1mm.