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摘 要 在对大厚板结构件的焊接中，窄间隙焊接表现出了明显的优越性，因而得到了大量的研究应用。但窄间隙焊接中，由于坡口加工不精确，装配误差，受热变形等原因，会使坡口中心与焊缝中心产生偏差。另外由于焊接环境恶劣，对焊接工作人员具有较大的伤害，同时顺应当今时代工业 4.0 的要求，达到智能化，自动化的管理，本文对摇动电弧窄间隙焊接红外视觉传感系统进行了研究。 本文首先搭建了窄间隙焊接红外传感图像采集系统，并使用 C++编写了图像处理的相关算法。然后完成了图像空间与熔池空间之前位置关系的换算以及图像的标定。在进行图像滤波处理时，通过组合滤波算法的方式，提高算法的抗干扰性，改善特征提取精度，最后进行了焊缝偏差传感检测试验。 试验结果表明：在设定焊缝偏差±1mm 范围内时，通过图像处理算法得到的偏差与实际偏差之间的误差在 0.25mm 之内。 58954
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毕业论文关键词：摇动电弧；窄间隙焊接；红外视觉传感；图像处理；偏差检测
Abstract In the welding process of large thick harden component, narrow gap welding shows obvious superiority, which makes it get a number of research and applications. However, during the narrow gap welding, the groove processing inaccurate, defective equipment and thermal deformation will make the groove center and the weld center cause deviation. Besides, because the bad welding environment does harm to welding workers as well as complying with the requirements of contemporary industrial 4.0, achieving intelligent, automation management, this paper studies the shaking narrow gap arc welding infrared vision sensing system. At first, this paper sets up the narrow gap welding infrared sensing image acquisition system, and then uses C++ to write image processing algorithms. Then, this paper completes the conversion of position relations between the image space and the molten pool space and the calibration of the image. In the image filter processing, through the way of combination filtering algorithm, anti-interference of the algorithm and the accuracy of feature extraction have been great improved. Finally, this paper carries on the weld deviation sensor test. Test results show that: When setting welding deviation is within 1mm range, the error between the deviation which is obtained by image processing algorithms and the actual deviation is less than 0.25 mm.
Keywords: shake narrow gap arc welding; the infrared vision sensing; image processing; deviation detection
目录
第一章绪论.1
1.1课题背景及意义..1
1.2窄间隙焊接的发展历程..2
1.3摇动电弧窄间隙焊接原理.4
1.4焊缝偏差检测传感方法现状4
1.5视觉传感技术研究现状..6
1.6窄间隙焊缝跟踪发展状况.7
1.7本课题主要研究目的及内容9
第二章红外视觉传感系统..11
2.1系统总体构成.11
2.2摇动电弧窄间隙焊接系统..11
2.2.1摇动电弧窄间隙焊炬12
2.2.2摇动电弧窄间隙焊接控制器13
2.2.3焊接电源..13
2.3红外视觉传感系统..14
2.3.1视觉传感器.14
2.3.2光学滤波系统17
2.3.3图像采集卡的选用.19
2.4偏差检测系统设计..20
2.4.1图像处理软件OpenCV21
2.5本章小结21
第三章摇动电弧窄间隙焊接图像采集.22
3.1图像采集系统.22
3.2焊接试验参数选择..23
3.2.1直流窄间隙焊接..23
3.3焊接区域图像采集基础24
3.3.1焊炬摇动参数定义.24
3.4图像检测基本原理..26