| 弧焊机器人视觉传感方法的研究 |
| |
| 引用本文： | 李严,吴林,陈定华.弧焊机器人视觉传感方法的研究[J].机械工程学报,1990,26(2):1-7. |
| |
| 作者姓名： | 李严 吴林 陈定华 |
| |
| 作者单位： | 哈尔滨工业大学 |
| |
| 摘 要： | 视觉功能是新一代弧焊机器人的重要特点。直接观察电弧近区对于以摄象机为视觉传感装置的系统来说明困难大。因为观察焊缝金属时，强烈的电弧成为很大的干扰源，这一点在常规的视觉系统中没遇到的。由辐射理论出发，提出采用红外成象的方法，可以实现TIG焊接时的直接视觉观察，较好地避免了电弧光的干扰。同时还研究了支持这种方法的专用实时图象处理微计算机系统和相应的应用算法。完成了焊接跟踪视觉传感控制。为今后发展具有视觉功能的弧焊机器人及焊接过程的视觉控制提供一条新途径。
|
| 关 键 词： | 机器人 视觉 |
A STUDY OF VISION SENDING FOR WELDING ROBOTS |
| |
| Li Yan,Wu Lin,Chen Dinghua.A STUDY OF VISION SENDING FOR WELDING ROBOTS[J].Chinese Journal of Mechanical Engineering,1990,26(2):1-7. |
| |
| Authors: | Li Yan Wu Lin Chen Dinghua |
| |
| Affiliation: | Harbin Institute of Technology |
| |
| Abstract: | Vision sensing is a main function of new generation of industrial robots. But it is difficult to observe directly or pick up the image of melten metal during welding operation with the ITV camera. Because there is an intense light from arc on the melten metal. In this paper, according to radiology, a new way to observe welding object has been presented with which satisfactory infrared image of TIG welding can be obtained. Meanwhile, an effective microprocessor system for real-time processing of the images has been developed. With the system and CCD camera and special optical filter, welding robots and machine can track the welding seam automatically and the results are satisfactory. |
| |
| Keywords: | |
|
| 点击此处可从《机械工程学报》浏览原始摘要信息 |
|
点击此处可从《机械工程学报》下载全文 |
