An optical sensing system for seam tracking and weld pool control in gas metal arc welding of steel pipe
An optical sensing system for seam tracking and weld pool control in gas metal arc welding of steel pipe
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DOI：
10.1016/s0924-0136(01)01216-x
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发表时间：
2002-01-15
影响因子：
6.3
通讯作者：
Ahn, KC
中科院分区：
文献类型：
--
作者：
Bae, KY;Lee, TH;Ahn, KC
研制了一套钢管根部焊道熔化极气体保护焊（GMAW）自动焊视觉传感系统。该系统由视觉传感器组成，视觉传感器由电荷耦合器件（CCD）相机和镜头、图像采集卡、图像处理算法和计算机控制器组成。一个专门设计的五轴机械手被用来定位焊枪，并提供视觉传感器与自动访问，以查看焊接位置。在根部焊道焊接期间，通过在焊接电源短路的情况下观察，使用照相机在没有强电弧光干扰的情况下捕获焊接熔池及其附近的图像。然后对捕获的图像进行处理以识别熔池形状。对于接缝跟踪，使用操纵器根据熔池图像调整焊枪位置到槽中心。测量的间隙尺寸用于确定适当的焊接条件以获得良好的熔深。焊接速度的选择使用模糊逻辑与知识的熟练，焊工和测量的差距。自动焊接设备表明，焊接条件和焊枪位置都可以适当控制，以获得良好的焊接件和良好的焊缝跟踪能力。(C)2002 Elsevier Science B.V.保留所有权利。
A visual sensing system was developed for automatic gas metal arc welding (GMAW) of the root pass of steel pipe. The system consisted of a vision sensor that consisted of a charge-coupled device (CCD) camera and lenses, a frame grabber, image processing algorithms, and a computer controller. A specially designed five-axis manipulator was used to position the welding torch and to provide the vision sensor with automatic access to view the welding position. During the root pass welding, an image Of the weld pool and its vicinity was captured using the camera without interference of the intensive arc light by viewing at the instance of a short-circuit of the welding power. The captured image was then processed to recognize the weld pool shape. For seam tracking, the manipulator was used to adjust the torch position based upon the pool image to the groove center. The measured gap size was used to determine the appropriate welding conditions to obtain sound penetration. The welding speed was chosen using fuzzy logic With the knowledge of a skilled,welder and measured gap. The automatic welding equipment demonstrated that both welding conditions and torch position could be appropriately controlled to obtain a sound weldment and a good seam tracking capability. (C) 2002 Elsevier Science B.V. All rights reserved.