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传感器是焊接过程视觉控制的重要因素之一。焊接过程控制一般分为两类:第一类是关于位置的控制;第二类是关于焊接工艺参数的控制。本文提出一种传感方法,它主要包括光学系统,信号接受器和数据处理器。由于电弧光的强烈干扰,一般的摄象机很难直接作为传感器。但是应用扫描式激光传感器,其结构紧凑且可以抑制电弧光的影响。为提高信号处理速度,本传感方法中采用了一种新型的“位置传感元件”(PSD),它不用象普通摄象机那样的扫描电路,因而速度很快。试验说明这种传感方法非常适用于机器人焊接的焊缝跟踪控制。除此,它还能识别焊接接头的几何形状与尺寸等信息。因此,它是一种有效的且很有前途的传感方法。
The sensor is one of the important factors in the visual control of the welding process. Welding process control is generally divided into two categories: the first category is about the position control; the second category is about the welding process parameters control. This paper presents a sensing method, which mainly includes the optical system, signal receiver and data processor. Due to the strong interference of the arc light, it is very difficult for a typical video camera to directly function as a sensor. But the application of scanning laser sensor, its compact structure and can inhibit the impact of arc light. In order to increase signal processing speed, a novel “position sensing element” (PSD) is used in the sensing method, which does not require a scanning circuit such as a normal video camera and thus is fast. The experiment shows that this sensing method is very suitable for robot welding seam tracking control. In addition, it can also identify the weld joint geometry and size and other information. Therefore, it is an effective and promising sensing method.