湿法水下焊接视觉传感器设计 毕业论文.docx

PAGE  PAGE 45 摘要 焊缝跟踪是焊接自动化的重要内容，焊缝跟踪技术的关键为传感器技术，论文以实现焊接位置及焊接大环境图像信息的采集为目标，设计并制作一套可满足湿法水下焊接环境使用的视觉传感器。 在明弧焊接的条件下，采用被动视觉传感器进行焊缝监测的困难在于如何获取清晰的焊缝图像。通过对焊接电弧光热辐射的分析，结合试验，设计了一套视觉传感器。该系统为被动视觉传感器，该系统采用工业CCD摄像机，通过有色滤光片或中性灰滤光片进行减光滤光，对焊接电弧前方一定区域距离内的待焊焊缝进行图像采集，以获取清晰的焊缝图像。 湿法水下焊接为明弧焊接，焊接过程中始终存在强烈的弧光干扰、以及气泡的不规则扰动、烟尘的聚集等不利因素。且由于水下的成像特性，使采集的图像中存在着较多的噪声干扰。图像采集时，通过复合滤光措施尽可能多的除去干扰。 关键词：湿法水下焊接；视觉传感器；滤光；焊缝跟踪 ABSTRACT Weld seam tracking is an important part for automation of welding, and sensor technology is the key to seam tracking technology. The target of this paper is designing and making a visual sensor which will be used for sampling images at welding position in the underwater environment. Under the arc welding condition, the difficulty is how to obtain clear images that can be used for monitoring welding seam with a vision sensor. Analyzes the welding arc light and heat radiation, combines test, we design a visual sensor.The system is passive vision sensor system. The system uses an industrial CCD camera, and use colored filters or neutral gray filter for reducing light ,acquits the images from specific area in front of the welding arc that to be weld, to obtain clear images of welding seam. Underwater wet welding has an open arc. There are several negative factors during the welding process, such as strong arc interference, bubble disturbance, dust gathering etc. And the imaging features in the underwater environment can result in more noise in images. We reduce these interferences as much as possible with filtering measures. Key words: Underwater wet welding；Visual sensor；Filtering；Welding seam tracking；  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc296341118 摘要  PAGEREF _Toc296341118 \h I  HYPERLINK \l _Toc296341119 ABSTRACT  PAGEREF _Toc296341119 \h II  HYPERLINK \l _Toc296341120 第一章 绪论  PAGEREF _Toc296341120 \h 1  HYPERLINK \l _Toc296341121 1.1 焊缝跟踪技术的发展、应用及现状  PAGEREF _Toc296341121 \h 1  HYPERLINK \l _Toc296341122 1.1.1 现代自动化焊接生产对焊缝跟踪的需求  PAGE