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  本文關(guān)鍵詞： MATLAB 圖像處理 焊縫跟蹤 偏差控制　出處：《沈陽大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著我國科學(xué)技術(shù)的迅猛發(fā)展,生產(chǎn)水平得到了很大的提高,但是焊縫跟蹤的精度問題仍然是一個難以解決的問題,本課題將采用視覺跟蹤偏差信號方法,對V型坡口圖像進(jìn)行采集、處理和控制相關(guān)方面進(jìn)行研究。在對國內(nèi)外焊縫跟蹤偏差信號的采集以及控制的研究現(xiàn)狀簡要分析的基礎(chǔ)之上,設(shè)計(jì)了焊縫跟蹤和控制系統(tǒng),對焊接機(jī)器人本體、控制柜、CMOS攝像機(jī)、激光器、計(jì)算機(jī)以及待焊試件等組成部分合理而高效地布局規(guī)劃,保證焊縫跟蹤系統(tǒng)能夠高效率、高精度跟蹤V型坡口焊縫圖像。通過對V型坡口焊縫的模擬焊接驗(yàn)證了焊縫跟蹤系統(tǒng)設(shè)計(jì)的正確性以及合理性。焊縫跟蹤偏差信號采集及控制研究分為兩個階段進(jìn)行研究,第一階段應(yīng)用MATLAB軟件對采集到的V型坡口圖像進(jìn)行圖像處理操作,第二階段通過配置界面參數(shù)和程序設(shè)計(jì)完成跟蹤控制命令。在對V型坡口圖像采集及處理研究方面,首先對去除噪聲、斷點(diǎn)連接、細(xì)化處理等難點(diǎn)進(jìn)行了分析,針對這些問題設(shè)計(jì)了一組程序算法,通過對V型坡口圖像進(jìn)行驗(yàn)證,證明該算法程序能夠解決這些問題。在控制系統(tǒng)設(shè)計(jì)方面,為了能夠使計(jì)算機(jī)和機(jī)器人之間通信,需要設(shè)置好串口的參數(shù),而且還需要根據(jù)焊接的行走路徑編制好機(jī)器人控制程序,各項(xiàng)參數(shù)設(shè)置完成后,對工件進(jìn)行實(shí)物焊接,驗(yàn)證系統(tǒng)設(shè)計(jì)的合理性。在焊縫跟蹤試驗(yàn)中,焊接試件選用V型坡口的低碳鋼板,工件板厚為20mm,坡口角度為60°,間隙大小為0mm。為了能夠精確測量出誤差,在焊接試驗(yàn)前,在300mm長的焊縫上,每20mm間隔選取一組數(shù)據(jù),一共選15組數(shù)據(jù)進(jìn)行試驗(yàn)。試驗(yàn)結(jié)束后,對這15組數(shù)據(jù)進(jìn)行實(shí)際測量,將實(shí)際測量后的數(shù)據(jù)與焊接前的測量數(shù)據(jù)進(jìn)行對比分析,分析結(jié)果表明,實(shí)際焊接的誤差范圍為±1mm,滿足設(shè)計(jì)要求。
[Abstract]:With the rapid development of science and technology in China, the production level has been greatly improved, but the accuracy of seam tracking is still a difficult problem. The V groove image acquisition, processing and control aspects are studied. On the basis of a brief analysis of the domestic and foreign weld seam tracking deviation signal acquisition and control research status. The welding seam tracking and control system is designed to plan the welding robot body, control cabinet CMOS camera, laser, computer and welding specimen reasonably and efficiently. Ensure high efficiency of weld tracking system. High precision tracking V-groove weld image. The correctness and rationality of the welding seam tracking system design are verified by the simulation welding of V-groove weld. The welding seam tracking deviation signal acquisition and control research is divided into two stages. To conduct research. In the first stage, the V groove image is processed by MATLAB software. In the second stage, the tracking control command is completed by configuring interface parameters and programming. In the aspect of image acquisition and processing of V-shaped groove, the difficulties such as noise removal, breakpoint connection, thinning and processing are analyzed. To solve these problems, a group of program algorithms are designed. By verifying the V-groove image, it is proved that the algorithm program can solve these problems. In order to make the communication between the computer and the robot, it is necessary to set the parameters of serial port, and also need to compile the robot control program according to the walking path of welding. The workpiece is welded in kind, and the rationality of the system design is verified. In the weld tracking test, the V-shaped groove low carbon steel plate is selected, the workpiece plate thickness is 20mm and the groove angle is 60 擄. The clearance size is 0 mm. In order to accurately measure the error, a set of data is selected every 20mm interval on the 300mm long weld before welding test. A total of 15 groups of data were selected for the experiment. After the test, the 15 groups of data were measured and compared with the data before welding. The analysis results show that. The actual welding error range is 鹵1 mm, which meets the design requirements.
【學(xué)位授予單位】：沈陽大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TG409

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