利用环形激光视觉传感的焊缝三维恢复

为了实现复杂条件下的焊缝检测与跟踪,通过激光扫描技术,开发了环形激光视觉传感器,与机器人手爪一起构成焊接机器人"手-眼"系统,从而获得焊缝三维信息。改善了传统的点状或线条状激光视觉传感器信息量少、解释模糊以及跟踪方向单一等问题。研究了用于焊缝定位与跟踪的环形激光视觉传感器系统的内外参量标定,提出了实现焊缝三维计算的模型,最后,以对接接头、搭接接头、角接接头为对象进行了试验验证,并对标定精度进行了分析。结果表明:环形激光在不同的焊缝表现了不同的形态,结合标定试验结果,能够计算被检测焊缝的三维坐标,计算精度能够满足试验要求。     

基于小波变换和概率神经网络的焊接接头类型识别

为了实现机器人自动焊接过程中快速、精确地提取焊缝特征信息,提出了一种基于小波变换和概率神经网络的焊接接头类型识别方法。先采用小波变换对由激光视觉传感器采集的焊接接头图像进行降噪和增强,对重构后的图像进行二值化,然后提取图像的特征信息,组成图像特征向量,最后构建概率神经网络分类器并进行测试。结合视觉传感器中激光器与摄像机的位置关系,最终识别出4种焊接接头。实验结果表明,所提出的方法特征提取简单,识别率高,并具有较好的实时性。     

基于线激光视觉的机器人焊缝跟踪鲁棒控制方法

为了解决机器人在高速状态下进行焊缝跟踪时在拐角处产生的失真变形问题,提出了一种基于线激光视觉的机器人焊缝跟踪鲁棒控制方法。该方法通过视觉系统的预测量获得焊缝轮廓信息,对焊缝拐点进行识别并辨认拐角区域,对不同的轮廓部分采用不同的控制策略,同时引入自动校正过程,校正实际生产过程中的装配误差。实验结果表明该方法可以实现可靠的检测与跟踪,解决了高速状态下的运动轨迹失真问题,有效地提高了机器人焊缝跟踪的速度与精度,并确保系统在外界干扰的情况下仍能保持准确和稳定的运动,增强了系统的鲁棒性。     

用基于DSP的线阵CCD实现二维图像信号采集的系统设计

对光电转换系统，尤其是采集信号的后处理进行了研究。介绍了在光电精密数据采集处理中通过DSP用硬件实现对CCD信号的采集和处理过程。给出了对CCD信号进行边缘识别的微分算法和将线阵CCD信号进行组合，恢复出二维图像信号的算法。同时还给出了详细的硬件处理电路。重点介绍了DSP与FIFO的数据传输、DSP与USB的接口电路。解决了一般情况下系统无法做到的用线阵CCD实现二维图像信号复原的问题。通过实验，证明了该方法的有效性。线阵CCD信号是以若干线段的形式存在的，特别适用于激光雕刻机图像采集系统，应用前景广阔。     

光谱学 光谱仪器

TH744．1 2005020911 脉冲激光光谱测试仪的设计=Design of a pulse laser spec- trum testing system[刊,中]／曹益平(四川大学光电科学技 术系．四川,成都(610064)),刘晓丽…//光电工程．- 2004,31(8)．-41-44 设计了一种基于ISP技术的线阵CCD的驱动电路和 高速脉冲光谱数据采集卡,建立了一套智能化脉冲激光光 谱测试系统。该系统主要由分光系统、CCD传感器、光脉 冲同步信号发生器、数据采集卡及计算机等部分组成。     

挖掘机器人视觉目标定位

为实现挖掘机器人的自动挖掘,在挖掘机实验模型基础上进行了电路改造,构建了以单片机为核心的控制电路,通过无线蓝牙与上位机进行通讯,实现对挖掘机操作装置的控制。通过视觉传感器采集挖掘机铲斗、目标物的实时图像,经图像处理后,对目标物中心及铲斗标记中心进行提取、定位,计算出二者之间的实时距离,进而控制挖掘机铲斗对目标物进行挖掘。     

自清洁追日太阳能发电系统

自清洁追日太阳能发电系统包括以单轴光源追踪器为核心的自动追日太阳能发电系统和由时钟电路、雨滴传感器构建的自清洁系统,可以实现太阳能板的自动追日发电和自动清洁.单轴光源追踪器通过自动追踪太阳方位,使太阳能电池板与太阳光线始终垂直,确保接收到的有效光照强度达到最大.自清洁系统可以使太阳能电池板实现自动清洁,有效消除"热斑效应",提高光电转化率.     

基于线阵CCD的全息光栅位移自动测量系统的研制与开发

提出了一种新型的基于线阵CCD的全息光栅位移传感器 ,该系统利用线阵CCD分辨率高、像素均匀等特点 ,对干涉条纹的移动进行精确定位 ,全息光栅在测量过程中具有不受光源波长的影响、适用光谱范围宽等特点 ,实现了位移的自动精确测量。给出了系统误差分析及结果数据 ,经实验 ,系统稳定可靠 ,精度高。     

基于结构光视觉引导的工业机器人定位系统

为实现工业机器人对目标对象的三维定位,提出了一种线结构光视觉引导的新型工业机器人定位系统。以工业相机、激光器和振镜组成的线结构光自扫描测量装置作为视觉传感器,借助振镜转动实现激光平面对目标对象的扫描,获取目标对象在相机坐标系下的三维位姿。为了将目标对象的三维位姿从相机坐标系转换至机器人工具坐标系,提出了机器人手眼关系与工具坐标系联合标定的方法,最终实现了工业机器人对随机位姿目标对象的三维定位。实验结果表明,系统具有较高的定位精度,其灵活性和稳定性满足工业现场的应用要求。     

基于线阵CCD的扫描镜角位置测量技术

扫描转镜是现代光电系统中广泛应用的装置。扫描转镜的位置需要精确控制,线阵CCD探测器具有像素高,响应频率高等特点。介绍了以TCD1501C作为光学传感器,利用可编程逻辑器件作为处理单元的角位置测量设计,包括驱动时序、视频输出差分电路、CCD信号检测处理等设计。实现了精度可达到0.02mrad的小角度测量。     

Automatic teaching of welding robot for free-formed seam using laser vision sensor

In order to enhance the flexibility of the robotic welding, it is necessary to generate the robot path automatically. In this paper, the automatic teaching of the welding robot for free-formed seam was implemented through the range data acquired by the laser vision sensor. The geometric modeling of objects such as the worktable and weld joint were performed from sequential range data. The orientation as well as the position of the torch was determined by the geometric models, and the path of the welding robot was automatically generated. Experiments for the free-formed seam showed that the proposed method performed sucessfully.     

Development of an ultrasonic inspection robot using an electromagnetic acoustic transducer for a Lamb wave and an SH-plate wave

For inspection of a storage tank and pipeline in service, the application of an automatic inspection system (nondestructive inspection robot) is desirable, because manual inspection is difficult to perfectly and exactly perform due to the enormous amount of inspection needed. However, an ultrasonic nondestructive inspection robot with a piezoelectric oscillator needs to touch only the material surface to be directly inspected using a coupling medium. That is, the material surface and the sensor must always be held by constant pressure in the vertical direction on the material side. Actually, it is difficult to overcome these problems; thus an ultrasonic inspection robot could not be widely applied. We then tried to develop an ultrasonic inspection robot with an electromagnetic acoustic transducer (EMAT) which did not require a coupling medium to inspect the circumferential pipe parts. We developed a special EMAT that could transmit and receive alternately a Lamb wave with high sensitivity and a SH-plate wave without influence by the welded part. The method by which the inspection robot turned around the direction of the steel pipe surroundings was executed by observing the tape pasted in the direction of the steel pipe surroundings with an installed CCD camera. In this report, the basic mechanism of this inspection robot and an examination of results are described.     

Laser welding with filler wire

New applications such as welding of material combinations and the ability to fill opening gaps between the workpieces offer new prospects for laser beam welding processes with filler wire. To guarantee good quality, vertical distance variations between wire tip and weld pool are, above all, not permissible as this causes globular metal transfer and would accordingly result in strongly rippled, unclean welds. A process-internal signal, recorded by a sensor, helps to solve this problem. The automatic tracking of the vertical wire position is possible on-line via a controller. In this way, the running process can be optimized and a consistently good weld quality can be achieved.     

不同焊接位置对5A90铝锂合金激光焊接质量的影响(英)

针对铝锂合金激光焊接产生的成形不良和气孔缺陷,探究不同焊接位置对焊缝成形及气孔的影响,并对比分析不同焊接位置熔池受力状态、熔融金属流动和小孔动态行为,解释缺陷形成及其抑制机理。研究发现:不同焊接位置熔池受力状态和熔融金属流动决定焊缝成形。平焊时焊缝成形差、下榻严重;横焊时背面焊缝不连续,有飞溅;立向上焊时背面焊缝内凹严重;立向下焊可得到最优焊缝成形和最优的气孔缺陷。焊缝气孔受小孔动态行为影响,不同焊接位置气孔随热输入的变化规律一致,气孔先增后减,在仅熔池透状态下有气孔最大值。立上焊时小孔不稳定,焊缝气孔多且分布杂乱;立向下焊时小孔稳定性高,气孔最少,主要分布在焊缝中心线上。     

Study on welded seam recognition using circular laser vision sensor

A novel visual robotic arc welding system based on circular laser vision sensor is developed. After image de-noising, image segmentation, and image thinning, the relation of depth value of workpiece and off-axis angle γ, three-dimensional (3D) calculation, and seam tracking experiments are carried out. Finally, the error for seam tracking system is analyzed. The results show that 1) 3D information can be obtained using the proposed visual robotic arc welding system and the real-time seam tracking is realized; 2) the seam tracking error is small enough for gas tungsten arc welding (GTAW) process, and this system can be used for seam location and seam tracking or seam finder.     

Advances in pulsed laser weld monitoring by the statistical analysis of reflected light

This paper describes two new techniques for monitoring the quality of laser welds by statistical analysis of the reflected light signal from the weld surface. The first technique involves an algorithm that analyses the variance of the peak values of the reflected signal as a measure of the stability of the surface during pulsed Nd:YAG laser welding in the heat conduction mode. Kalman filtering is used to separate a useful signal from the background noise. A good correlation between weld disruption and signal fluctuation has been identified. This technique could be used in tandem with the present practice of simply using the peak values of reflected (or emitted) light as an indicator of weld quality. The second technique investigated involves an assessment of the temporal shape of the power distribution of individual reflected pulses in comparison with an average of the results from a high quality weld. Once again a high correlation between a poor signal match and inferior quality welding was discovered, which may pave the way towards a new generation of optical weld monitoring devices.     

大功率盘形激光焊接飞溅动态识别和特征分析

提出了一种识别飞溅动态并基于飞溅特征分析焊接状态的方法。以304不锈钢板为试验对象,进行大功率盘形激光平板堆焊试验。利用高速相机捕捉紫外波段和可见光波段的飞溅图像,通过图像处理提取飞溅特征参数,包括质心位置、面积、灰度、平均灰度和半径。基于飞溅特征参数建立飞溅搜索信息库和相似度函数,用于识别飞溅、计算飞溅体积和灰度以及评估焊接状态。通过焊缝宽度与飞溅特征信息的比较,研究焊接状态与飞溅特征参数之间的内在关系。对飞溅特征与焊接状态之间关系进行了试验分析,结果表明,激光焊接过程中飞溅的体积和灰度值增大,焊缝宽度会相应减小,通过飞溅特征参数可有效监测和评估大功率盘形激光焊接过程的状态。     

SrAl2O4:Eu,Ho/树脂应力发光薄膜在焊缝缺陷检测中的应用

采用高温固相法合成SrAl₂O₄∶Eu,Ho应力发光材料。XRD结果表明,所合成的样品较纯,掺杂离子并未改变基质材料的基体结构。将SrAl₂O₄∶Eu,Ho（SAOEH）应力发光粉末与树脂混合制备复合应力发光薄膜。光谱结果表明,薄膜的发光随着厚度的增加而增强;薄膜的SEM结果表明,SAOEH粉体颗粒均匀分散在树脂中。将应力发光薄膜应用于钢板焊缝处背面,应力测试结果表明薄膜应力发光先增强后减弱。当薄膜厚度为0.9 mm时,应力发光最强,且在焊缝处可得到较高的响应值。此外,在循环测试的过程中,应力发光薄膜可对焊板断裂实现实时响应,结合CCD相机可实现钢板焊缝检测的可视化,并对缺陷定位。     

面向单向器星轮自动化装配的视觉检测定位

针对传统单向器星轮人工装配效率低下问题,分析了单向器星轮装配过程,构建了基于计算机视觉技术的工业机器人自动化装配方案。首先利用CCD摄像机捕捉星轮表面形貌图像,然后利用Open CV视觉库进行了摄像机标定,再结合图像噪声去除,Hough圆检测,轮廓提取等技术,实现了星轮位姿的非接触式视觉检测。最后以单向器为例验证了该检测方法的有效性,机器人通过视觉获取的星轮位姿信息完成自动化装配。