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在激光对接焊过程中,精确控制激光束使其始终对正并跟踪焊缝是保证激光焊接的前提,为此首先须精确检测焊缝位置。针对小于0.05 mm的微间隙对接焊缝,通过对焊件施加感应磁场,利用法拉第磁旋光原理构成磁光传感器并获取焊缝磁光图像。通过图像处理提取焊缝中心位置并构成状态向量,建立基于焊缝中心位置的系统状态方程和测量方程。采用卡尔曼滤波算法对焊缝中心位置进行最优估计,得到焊缝中心位置最优预测值,消除过程噪声与测量的干扰影响。试验结果表明,卡尔曼滤波方法能够有效减少噪声干扰并提高焊缝跟踪精度。
In the laser butt welding process, the precise control of the laser beam so that it is always aligned and tracking the weld is to ensure the premise of laser welding, the first to be precise detection of weld position. For the micro-gap butt welds less than 0.05 mm, a magneto-optical sensor is formed by applying the induced magnetic field to the weldment and the magneto-optical image of the weld is obtained by using the Faraday principle. Through the image processing to extract the center position of the weld and form the state vector, the system state equation and the measurement equation based on the weld center position are established. Kalman filter algorithm is applied to optimize the position of the weld center, and the optimal prediction value of the weld center position is obtained to eliminate the influence of process noise and measurement interference. The experimental results show that the Kalman filtering method can effectively reduce the noise interference and improve the tracking accuracy.