本文介紹爬行式弧焊機(jī)器人結(jié)構(gòu)光三維視覺傳感器的傳感原理、系統(tǒng)組成和設(shè)計(jì)依據(jù)。用會(huì)聚透鏡和柱透鏡組合產(chǎn)生線長35～ 40 mm、線寬1 mm 的光紋投向焊縫, 熱敏電阻組成橋式自功控溫電路,用5 L ?s 流量的空氣(或氬氣) 吹開煙塵、蒸汽和飛濺物等, 微型CCD 攝像機(jī)加裝窄帶濾光片攝像, 經(jīng)二值化、圖像分割和中心取樣等圖像處理并計(jì)算出偏移量送控制系統(tǒng)引導(dǎo)爬行機(jī)器人正確施焊。
關(guān)鍵詞: 弧焊機(jī)器人; 爬行機(jī)構(gòu); 焊縫跟蹤; 圖像處理
Abstract:M ake use of combinat ion of assemble lens and co lumns lens to p roduce ligh t veins of 35～ 40 mm length and 1 mm w idth w h ich is th row n to w eld seam. Therm isto r compo ses of bridge2type elect ric circuit w h ich conto ls temperature automat ically. The rate of flow ing of 5 L ?s blow s fumes, steam and sp lash th ing etc. M inni CCD is added narrow 2tape filter ligh t p late to take p icture, th rough image p ro2 cessing such as 2 valuemelt ing, image cut t ing, cent ral samp ling and calculate deviat ion to send to cont ro l system,w h ich guides craw ling robo t to w eld co rrect ly.
Key words:A rc w elding robo t; Craw lmach ine; W eld seam t rack ing; Image p rocessing