为了解决焊缝自动跟踪用光电传感器对工件表面状态敏感的问题,采用了激光结构光从前方倾斜入射、线阵电荷耦合器件(CCD)在正上方接收散射光信号的传感器光路结构。通过对传感器高度的自适应控制,有效地减小了工件表面状况对传感器检测信号的干扰。在软件的设计中,通过对传感器输出信号的数字滤波和图像处理,确定焊缝中心的位置。结合比例调节和模糊控制原理,引入Fuzzy-P双模分段控制方法,实现了在埋弧焊时对焊缝的双向实时跟踪。在水平和垂直方向的跟踪精度分别达到±0.2和±0.5mm,完全满足焊接生产的要求。 In order to solve the problem that the surface of the workpiece is sensitive to the automatic tracking electro-optic sensor, a laser structure is used which is inclined incident from the front and the CCD array receives the scattered light signal directly above. By adaptively controlling the height of the sensor, the interference of the surface condition of the workpiece to the signal detected by the sensor is effectively reduced. In the software design, through the digital filtering of the sensor output signal and image processing, to determine the location of the weld center. Combined with the principle of proportional control and fuzzy control, fuzzy-P dual-mode control method is introduced to realize bidirectional real-time tracking of weld in submerged arc welding. In the horizontal and vertical tracking accuracy of ± 0.2 and ± 0.5mm, respectively, fully meet the welding production requirements.