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概述了弧焊过程焊缝跟踪的发展现状,着重介绍了基于视觉传感的焊缝跟踪技术。综合论述了被动光视觉法和主动光视觉法的基本原理、优缺点和应用情况,详细讨论了图像预处理、图像分割和边缘检测的各种处理方法及实践应用,并分析了经典PID控制、模糊控制、神经网络控制和专家系统等控制技术在焊缝跟踪中的应用发展。文章对基于视觉传感的焊缝跟踪技术的发展作了展望。
The development of weld tracking in arc welding process is summarized. The welding seam tracking technology based on visual sensing is emphatically introduced. The basic principles, advantages, disadvantages and applications of passive optical and active optical methods are discussed in detail. Various processing methods and practical applications of image preprocessing, image segmentation and edge detection are discussed in detail. The classical PID control, Fuzzy control, neural network control and expert system control technology in the weld tracking application development. The article gives a prospect of the development of the welding seam tracking technology based on vision sensing.