本文介紹爬行式弧焊機器人結構光三維視覺傳感器的傳感原理、系統組成和設計依據。用會聚透鏡和柱透鏡組合產生線長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 攝像機加裝窄帶濾光片攝像, 經二值化、圖像分割和中心取樣等圖像處理并計算出偏移量送控制系統引導爬行機器人正確施焊。
關鍵詞: 弧焊機器人; 爬行機構; 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