基于弧光反射的焊缝图像获取及图像处理

在CO2气体保护焊过程中,获得便于图像处理的高质量图像是焊缝跟踪的关键问题.首先,依据曲面反射体反射弧光的原理,在机器人焊炬上构建了一套有抛物面反射镜的结构,借助弧光,通过反射体产生平行光,照射到摄像机能够看到的区域,并使该区域的照度限定在摄像头可接受的范围;其次,根据短路过渡焊接过程的特点和飞溅的方向,讨论了该条件下获得图像的可用性;最后,运用机器人微移动算法,对获取图像进行了处理.试验结果表明了这种方法的有效性.

Acqusition and processing of seam image based on reflected arc light

It is the key issue for the seam tracking to obtain the high quality images which are convenient to be processed in arc welding process shielded by the gas of CO₂.Firstly, on the basis of the principle that reflectors with curved surface reflect arc, a structure with the paraboloid of the reflecting mirror was constructed on the welding torch of the robot.The structure can produce parallel light by dint of arc which irradiates the area monitored by the CCD camera.The lum of the area is limited to the extent that is adapt to the camera.Secondly, the usability of the obtained images was discussed according to the characteristics of the welding process of short-circuit transfer and the directions of splash.Based on the algorithm of robot difference-moving, the obtained images were processed.The result of experiments has proved the validity of the method.