弧焊机器人焊炬姿态规划系统的研究

为提高弧焊机器人的适应性和自动规划功能，研究了一种空间全位置焊接条件下的焊炬姿态自动规划系统。该系统借助于相应的摄像机标定软件，计算测试软件和焊炬姿态规划软件，协调计算机视觉，信号采集，图像处理等模块检测焊缝的空间信息，然4后查询焊炬姿态优化数据库，运行离线偏程等离子模块，实现自动规划弧焊机器人的焊炬姿态，采用研制的爆炬姿态规划系统在空间全位置条件下进行焊接实验，结果表明，该系统能保证爆接中焊缝的成形良好。     

Novel welding Image processing method based on fractal theory

Computer vision has come into used in the fields of welding process control and automation.In order to improve precision and rapidity of welding image processing,a novel method based on fractal theory has been put forward in this paper,Compared with traditional methods.the image is preliminarily processed in the macroscopic regions then thoroughly analyzed in the miocroscopic regions in the new method,with which ,an image is divided up to some regions according to the different fractal characters of image edge,and the fuzzy regions including image edges are detected out ,then image edges are identified with Sobel operator and curved by LSM(Lease Square Method),Since the data to be processed have been decreased and the noise of image has been reduced ,it has been testified through experiments that edges of weld seam or weld pool could be recognized correctly and quickly.     

分形理论在焊接图象处理中的应用

针对焊接过程中的图象处理问题，如检测焊缝边缘位置和确定焊接熔池的边缘大小和形状等问题，由于传统图象处理方法易受噪声和其他干扰信息的影响，因此很难准确及时地处理图象，为了克服此弱点，在比较了焊接过程中图象处理的微观算法和宏观算法的基础上，提出了运用分形理论的综合图象处理方法，该方法是根据焊接过程图象的特点，首先利用图象边缘的分形特征来进行区域分割，以便检测出图象边缘所在的模糊区域，然后用边缘检测方法的Laplace算子和最小二乘法拟合曲线来识别出图象的边缘，同时用该方法进行了实时焊接图象处理实验，实验结果证明，该方法不仅能准确识别出焊接焊缝或熔池图象的边缘，而且节省了图象处理的时间，为焊接过程的实时控制提供了可靠的信息。