【摘要】 本文介绍爬行式弧焊机器人结构光三维视觉传感器的传感原理、系统组成和设计依据。用会聚透镜和柱透镜组合产生线长 35～ 4 0 mm、线宽 1mm的光纹投向焊缝 ,热敏电阻组成桥式自功控温电路 ,用 5 L / s流量的空气 (或氩气 )吹开烟尘、蒸汽和飞溅物等 ,微型 CCD摄像机加装窄带滤光片摄像 ,经二值化、图像分割和中心取样等图像处理并计算出偏移量送控制系统引导爬行机器人正确施焊更多还原

【Abstract】 Make use of combination of assemble lens and columns lens to produce light veins of 35～40 mm length and 1 mm width which is thrown to weld seam.Thermistor composes of bridge type electric circuit which contols temperature automatically.The rate of flowing of 5 L/s blows fumes,steam and splash thing etc.Minni CCD is added narrow tape filter light plate to take picture,through image processing such as 2 value melting,image cutting,central sampling and calculate deviation to send to control system,which guides crawling robot to weld correctly.更多还原