【作者】 陈诚；

【导师】 陈兴梧；

【作者基本信息】 天津大学 ， 光学工程， 2004， 硕士

【摘要】 随着石油天然气及石油化工工业的发展，管道建设处于发展的高峰期。焊缝位置和焊接参数是影响管道焊接质量的重要因素，因此其中涉及的检测和控制技术得到广泛的关注和研究。本文根据现有管道自动焊接技术的特点和不足，研制出有效的焊缝检测和焊接参数控制系统，能够实时准确地调整焊枪位置、控制焊枪运动轨迹，获得合乎要求的焊缝。焊缝检测系统采用CCD光学传感技术，综合多种图像处理算法，能够在50m/h的焊接速度下快速准确地检测出焊缝边缘，并运算求得焊接偏移参数，通过接口卡传输给焊接参数控制系统。系统具有实时性、非接触、检测准确、运行稳定等特点。焊接参数是控制焊枪运动轨迹的参数，本焊接参数控制系统利用串口通信的方法实现参数传输，通过角度传感技术定位焊接管道位置并进行相应参数的切换，以电机控制卡为核心，通过控制软件驱动焊枪完成焊接参数规定的焊接过程。焊枪摆速能够准确控制在30mm/s~50mm/s范围内变化。系统控制简单、精确，在焊接现场能稳定可靠地工作，抗干扰能力强，各项技术指标符合生产要求。本论文的创新点：针对焊缝图像的特点，采用多种算法综合处理的方法，实现了快速且准确的检测。采用串口通信技术和角度传感技术，有效实现了焊接参数传输和切换。采用专用电机控制卡控制、软件驱动焊枪执行机构的方法，可靠性高，响应快，控制简单。更多还原

【Abstract】 With the development of petroleum gas and petrochemical industry, the pipeline is built in the peak period. Welding seam position and weld parameter are important factors to influence pipeline quality, so the detection and control technology involved is concerned much and studied much. According to the characteristic and deficiency of the existing automatic pipeline welding technology, the dissertation introduces effective welding seam detection and weld parameter control system, which can real-time adjust the position and control the orbit of welding gun accurately. As the result, high quality seam is obtained. Based on the CCD optical sensing technology, the welding seam detection system can detect out the seam edge fast and accurately by means of algorithms such as median filter, image segmentation, contour tracking and Hough transformation. Then the offset parameter can be calculated and transmitted to the control system by certaininterface card. The system has such characteristic as real-time, non-contact. Experiments show that this system can work steadily and can obtain accurate detection results.Weld parameter is used to regulate the orbit of welding gun. Based on such technology as serial communication, angle sensing, and motor control, the weld parameter system can realize parameter transmission, pipeline positioning, parameter switch, and welding gun driving. The swing speed of welding gun can be changed from 30mm/s to 50mm/s. The system shows such performances as easy to operate, steady running status, good anti-jamming ability, which fit finely the welding requirements. The major innovations achieved in the dissertation are as follows:Certain kinds of algorithms are adopted according to the characteristic of welding seam image. The seam detection system realizes real-time image process with these algorithms. Serial communication and angle sensing technology is used in weld parameter control system with which transmission and switch of parameter can be realized.Welding gun can run accurately and reliably in term of weld parameter with special motor control card and control software.更多还原