摘要:
为了实现小弯曲角焊缝的跟踪及焊缝终点的检测,针对焊接电流中噪声的种类,使焊接电流经过空间中值滤波、均值滤波、阈值处理和线性滤波,去除了大部分的噪声. 用直线将2类模式平均向量对应的点连接起来,把直线的斜率作为偏差. 以最近三次偏差作为多个模式类感知机的输入,以水平滑块伸出或缩进的速率作为输出,实现小弯曲角焊缝的跟踪. 如果连续三次偏差的值大于1,则表明到达了焊缝终点. 最后进行了小弯曲角焊缝的跟踪试验,角焊缝终点的检测试验,过水孔的试验. 结果表明, 该算法提高了机器人跟踪小弯曲角焊缝的精确度, 实现了角焊缝终点的准确识别和过水孔的通过, 有利于焊接自动化的实现.
Abstract:
In order to track fillet weld with small bending angle and detect endpoint of weld seam, the welding current was filtered by spatial median filtering, average filtering, threshold processing and linear filtering depending on the type of noise in welding current, and finally most of noises were removed. Tracking of fillet weld with small bending angle was realized through connecting the points corresponding to average vector of two types of model by line, considering slope of straight line as deviation, regarding deviation in the last three times as input of perceptron for multiple pattern classes, and taking the rate of horizontal slider stretch as output. It was found that the robot arrived at the endpoint of weld seam if three consecutive deviation values were larger than 1. Tracking experiment of fillet weld with small bending angle was conducted, the endpoint of weld seam was detected, and drain hole experiment was carried out. The results show that the algorithm improved the precision of tracking fillet weld with small bending angle. The accurate recognition of endpoint of fillet weld and through drain hole was realized, which was conducive to the welding automation.
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