关键词: 自主移动焊接机器人, 嵌入式视觉控制, 焊缝跟踪, 核相关滤波, 纠偏控制

Abstract: To solve the problem of limited space and disturbance of seam tracking accuracy when welding large work pieces,an embedded visual tracking control system for autonomous mobile welding robot was proposed and designed,which was suitable for field welding operation with its compact and small size.A seam tracking algorithm based on Kernelized correlation filter was proposed to solve the problem of arc interference during welding and to realize real-time,accurate and reliable seam tracking.A large number of positive and negative samples were trained to construct classifiers and Gaussian kernel function mapping was used to improve tracking accuracy and reliability.Sample cyclic matrix and Fourier transform were calculated to reduce the amount of calculation and realize the real-time tracking.The automatic tracking algorithm was implemented in the embedded system based on ARM to control the crawling and yaw of the mobile robot and realize real-time deviation correction in welding process.The welding experiment of V-shaped welding seam for large pipeline was conducted,and the frame rate of the visual sensor could reach10fps.The proposed system could correct the deviation automatically with the movement of the welding robot,the track of the weld was accurate,and the welding surface was smooth.

Key words: autonomous welding robot, embedded vision control, seam tracking, kernelized correlation filter, rectify deviation control