基于结构光投影的焊接熔池图像获取与处理

建立一种主动视觉传感系统，以小功率激光器作为主动光源投射激光到特制光栅上，在焊接熔池表面形成变形激光条纹，用加了窄带滤光片和中性滤光片的CCD在系统另一侧实时拍摄熔池图像。选取合适的激光入射角度和CCD拍摄角度，较好的避开弧光对熔池图像的干扰，采集到熔池区变形激光条纹。对熔池图像特征进行分析，变形的激光条纹反映了熔池的下塌或上凸状态；成功提取熔池边缘和激光条纹边缘；通过标定、计算得到熔池正面几何参数，为今后实时检测焊接熔池表面的三维信息奠定了基础。

Image taking and processing of welding pool based on structured light projection

An active vision sensing system is founded.The low power laser is an active light-source which is projected laser on to the specialized grating, deformed laser stripes are formed on the surface of the welding pool, narrow band filter and neutral density filter are mounted on CCD for acquiring pool images at real time on the other side of system.When the projected angle and acquired angle are selected properly, it can avoid the interference of arc to make the pool image better, and deformed laser stripes can be gathered. The characters of pool images are analyzed, deformed laser stripes reflect the information of the concave or convex of the pool.Both the pool boundary and the deformed stripes edges are extracted successfully.The geometry parameters of pool obtained by demarcation and calculation lay the foundation for real time detection of the 3-D information of welding pool surface.