基于小波变换的MAG焊焊缝跟踪

提出了一种基于CCD视觉传感的MAG焊焊缝跟踪方法.由于MAG焊过程中通常伴有大量的飞溅、烟尘以及强烈的弧光干扰,所以很难从CCD中获取到清晰的焊缝图像.基于M带Bubble小波变换的方法,检测捕获MAG焊过程熔池的图像边缘.结果表明,该方法在检测焊接熔池边缘以及焊缝识别中,即便图像中出现大量噪音也是有效的.在焊缝识别的基础上,采用PID控制算法跟踪所设计的S形焊缝的成形.试验结果表明其焊缝跟踪方法具有较高的精确度.

Seam tracking in metal active-gas welding based on wavelet transform

This paper presents a new approach for the effectively tracking of welding seam based on CCD (charge coupled device) sensor. Due to the presence of many spatters, dust and strong arc noises in welding environments, it is very difficult to detect the legible welding seam from the CCD sensor. This paper presented a novel approach, based on the Bubble and M-band wavelet transform, to detect the image edge of welding molten pools from the images captured in metal active-gas welding process. The experimental results show the proposed method is effective in detecting the edges of welding molten pools and identifying the welding seams even when the welding images are presented with much noise. Based on the identification of welding seam, a proportional integral differential control approach is employed to manipulate the welding torch in order to track a desired S-shape welding seam. The control experiments demonstrate that tracking an S-shape welding seam is delivered effectively with good precision based on the proposed welding seam tracking.