CN101224519A - Arc welding robot jointing monitoring system based vision sensing - Google Patents
Arc welding robot jointing monitoring system based vision sensing Download PDFInfo
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- CN101224519A CN101224519A CNA2008100332976A CN200810033297A CN101224519A CN 101224519 A CN101224519 A CN 101224519A CN A2008100332976 A CNA2008100332976 A CN A2008100332976A CN 200810033297 A CN200810033297 A CN 200810033297A CN 101224519 A CN101224519 A CN 101224519A
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Abstract
The invention provides an arc welding robot welding monitoring system which is based on visual sensing in the arc welding robot technical field. The invention comprises a welding robot, a robot controller, a visual sensing system, an interface circuit device, a main control computer, and a dual inverter arc welding power source; wherein, the visual sensing system dynamically collects the images of a welding pool and transmits the images to the main control computer which receives the image information which is provided by the visual sensor and achieves the image processing; furthermore, the main control computer adjusts the dual inverter arc welding power source and controls the welding robot through the interface circuit device according to the processing results; the interface circuit device consists of a simulation signal output sub-module, a welding switch and process state detection sub-module and a robot controller general I/O sub-module; the welding robot receives a moving instruction signal which is emitted by the main control computer, and the welding is achieved by moving a welding gun. The invention improves the monitoring capability of the user to the welding process of the arc welding robot, and widens the application range of the robots in the welding automation field.
Description
Technical field
The present invention relates to the system in a kind of Robotics field, relate in particular to a kind of arc welding robot jointing monitoring system based on visual sensing.
Background technology
Welding robot is widely used in fields such as automobile, space flight manufacturing at present, mainly is divided into spot welding and arc-welding two big classes.The welding parameter of existing teaching-playback robot or off-line programing robot sets in advance according to operating condition, in welding process, lack the external information sensing and adjust function in real time, this class welding robot is to the coherence request strictness of operating condition, lack during welding " flexibility ", can not adapt to the variation of welding surroundings and process.But in the actual welding process, operating condition is often to change, and as welding work pieces fit-up gap and misalignment, is heated in the welding process and radiating condition.In order to overcome in the robot welding process various uncertain factors to the influence of welding quality, improve the intelligent level of robot manipulating task and the reliability of work, the online adjustment that this just requires welding robot system to possess can to realize welding parameter in welding process and the real-time monitoring and control of weldquality.And local autonomous intelligence welding robot system merges sensing technology, intelligent control technology and computer technology on teaching-playback robot basic machine basis, realizes the autonomy-oriented and the intellectuality of welding process.
Find by prior art documents, (2002 (4): the TIG arc welding robot system of introducing in " application of TIG arc welding robot system in welding at the bottom of the aerospace large aluminum alloy tank case " delivered 24-26) has certain representativeness to people such as Li Yanmin in " welding ", this cover robot system comprises welding robot, main control computer and weld jig composition, solve ellipsoid case back welding and connect automation issues, the electric arc gradual change instruction of utilization robot in the welding process, set blow-out electric current, blow-out distance, high blow-out is piled in the realization current attenuation.But, because this cover system can not obtain the molten bath multidate information in real time, can't realize the online adjustment of welding parameter and the real-time control of weldquality.
Summary of the invention
The present invention is directed to above-mentioned deficiency of the prior art, a kind of arc welding robot jointing monitoring system based on visual sensing is provided, make it by increasing visual sensing system, overcome the influence of uncertain factor, realize that welding dynamic process welding parameter (pulse peak current, receipts arc current and wire feed rate) and welding process state detect in real time and adjust welding quality.
The present invention is achieved through the following technical solutions, the present invention includes: visual sensing system, two contravariant arc welding power source, interface circuit device, main control computer, robot controller, welding robot, wherein:
Visual sensing system is responsible for the image of dynamic acquisition welding pool in welding process, and the image of being gathered is sent to main control computer by video line;
Status monitoring port, source of welding current welding current and wire feed control port are drawn in two contravariant arc welding power sources inside, wherein the status monitoring port comprises that striking successfully reaches the impulsive synchronization terminal signals, two contravariant arc welding power sources send the starting the arc in the welding incipient stage and become function signal to give main control computer, and receive from the adjustment signal of main control computer to the magnitude of voltage of two contravariant arc welding power source welding currents and wire feed control port;
Interface circuit device comprises: analog signal output sub-module, welding switch submodule, process status detection sub-module and robot controller general purpose I/O submodule, wherein:
The analog signal output sub-module receives the voltage signal that main control computer sends, and outputs to the source of welding current welding current and the wire feed control port of two contravariant arc welding power sources after voltage signal is isolated, amplified;
Welding switch submodule receives the digital signal level that main control computer sends, and outputs to the starting the arc switch of two contravariant arc welding power sources after the digital signal level isolation is amplified;
The starting the arc that the process status detection sub-module is responsible for detecting two contravariant arc welding power source inside successfully reaches the impulsive synchronization terminal signals, and sends to main control computer respectively detecting the high and low value of level signal;
Robot controller general purpose I/O submodule is responsible for detecting welding robot welding key position point signal, and the level value of this signal is transferred to main control computer;
Main control computer is the core of whole arc welding robot jointing monitoring system, the welding robot workpiece starting the arc location point to be welded of walking, main control computer detects the high level signal of the starting the arc location point that sends from robot controller general purpose I/O submodule, send high level signal to welding switch submodule simultaneously, carry out starting the arc operation; The beginning starting the arc stage, main control computer constantly detects the starting the arc by the process status detection sub-module and becomes function signal, pulse synchronous signal level value, when striking becomes function signal to be high level, send high level signal to robot controller general purpose I/O submodule, welding robot is finished walking, welding action; In the welding process, when main control computer is low level value at pulse synchronous signal, receive the welding pool visual information that vision sensor provides, carry out image and handle, and adjust two contravariant arc welding power sources and control welding robot in real time by interface circuit device according to result;
Robot controller is responsible for detecting the high level signal of welding robot starting the arc location point, and this high level signal is sent to main control computer by robot controller general purpose I/O submodule, and receive the walking command signal that main control computer sends by robot controller general purpose I/O submodule, and the command signal of will walking is transferred to welding robot;
Welding robot receives the walking command signal that robot controller sends, and finishes walking and welding action.
Described visual sensing system comprises vision sensor, image pick-up card, and image pick-up card is installed in main control computer PCI (Peripheral Component Interconnect) slot, links to each other with vision sensor by video line.
Described vision sensor comprises: CCD (CCD imageing sensor) video camera, the composite filter system, mirror system and sensor stand, ccd video camera, the composite filter system, mirror system all is fixed on the sensor stand, the composite filter system comprises the dim light eyeglass, filter glass and lens supports, dim light eyeglass and filter glass are overlapping to be placed on the lens supports, lens supports is fixed on the sensor stand, and perpendicular to the ccd video camera optical axis, mirror system comprises the first order reflection mirror, secondary reflex mirror and mirror support, the first order reflection mirror, the secondary reflex mirror all is arranged on the mirror support, the first order reflection mirror is from the horizontal by 70 degree angles, the first order reflection mirror is responsible for gathering welding front end crater image information, the secondary reflex mirror is from the horizontal by miter angle, the secondary reflex mirror collects image with the first order reflection mirror and reflexes to ccd video camera, and whole vision sensor is fixed on the terminal joint of welding robot by sensor stand.
Described analog signal output sub-module is responsible for paired pulses peak value welding current and wire feed rate detects in real time and adjusts, the analog signal output sub-module receives the voltage signal that main control computer sends, and isolates, amplifies welding current and the wire feed control port that outputs to the source of welding current through secondary amplifier again through elementary amplifier compensation, linear optical coupling.
Described welding switch submodule is finished the automatic starting the arc of main control computer of two contravariant arc welding power sources, welding switch submodule receives the digital high signal that main control computer sends, and isolates by digital optocoupler, relay and amplifies the starting the arc switch that outputs to two contravariant arc welding power sources.
Described process status detection sub-module is responsible in real time, and the striking of the two contravariant arc welding power source status monitoring ports of detection successfully reaches the impulsive synchronization terminal signals, when the successful striking of two contravariant arc welding power sources, this submodule sends to main control computer to striking success terminal high level signal, welding robot is carried out normal welding, simultaneously, in normal welding process, constantly detect impulsive synchronization terminal signals level value, guarantee that IMAQ is stuck in to gather weld pool image between low period.
Described robot controller general purpose I/O submodule, be responsible for detecting welding robot welding key position point signal detection and welding robot walking confirmation signal, welding key position point signal comprises: starting the arc location point, current attenuation location point and blow-out location point signal are delivered to main control computer to the current key position point signal of welding robot by the digital optocoupler in robot controller general purpose I/O submodule.
When the present invention works, the welding robot workpiece starting the arc location point to be welded of walking, robot controller general purpose I/O submodule sends to main control computer and arrives starting the arc location point signal, after main control computer receives this signal, finish starting the arc operation by welding switch submodule, when treating that main control computer detects striking success terminal high level signal, main control computer is by robot controller general purpose I/O submodule, the welding robot walking is also carried out normal welding, main control computer constantly detects impulsive synchronization terminal signals level value simultaneously, between impulsive synchronization terminal signals low period, weld pool image is by the first order reflection mirror, the secondary reflex mirror, reflex on the vision sensor through dim light eyeglass and filter glass again, ccd video camera constantly produces the vision signal of modulation, is processed into image data format through image pick-up card, consigns to main control computer, carry out filtering, the integration rim detection, threshold binarization, image processing process such as refinement and curve match extract molten bath characteristic size parameter.According to resulting information, send voltage signal by the analog signal output sub-module, adjust source of welding current welding current and wire feed control port magnitude of voltage in real time.When being welded to terminal point, robot controller general purpose I/O submodule sends current attenuation location point and blow-out location point signal to main control computer, and main control computer sends the blow-out signal for welding switch submodule, and welding arc extinguishes.
Compared with prior art, the present invention has following beneficial effect: the present invention is for realizing that online real-time monitoring provides system platform based on computer-controlled arc welding robot, satisfied the requirement of polytype industrial robot local intelligence, pass through visual sensing system, can control more neatly with the monitoring robot welding process in some dynamic welding variables and molten bath multidate information, dynamically the research and the exploitation of control provide a kind of experiment porch for the welding process of arc welding robot.
Description of drawings
Fig. 1 is the arc welding robot jointing monitoring system block diagram based on visual sensing;
Fig. 2 is an interface circuit device schematic diagram of the present invention;
Fig. 3 is a visual sensing system connection diagram of the present invention;
Fig. 4 is input, the output voltage matched curve figure of analog signal output circuit of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: visual sensing system, two contravariant arc welding power source, interface circuit device, main control computer, robot controller, welding robot, wherein:
Visual sensing system is responsible for the image of dynamic acquisition welding pool in welding process, and the image of being gathered is sent to main control computer by video line;
Status monitoring port, source of welding current welding current and wire feed control port are drawn in two contravariant arc welding power sources inside, wherein the status monitoring port comprises that striking successfully reaches the impulsive synchronization terminal signals, two contravariant arc welding power sources send the starting the arc in the welding incipient stage and become function signal to give main control computer, and receive from the adjustment signal of main control computer to the magnitude of voltage of two contravariant arc welding power source welding currents and wire feed control port;
Interface circuit device comprises: analog signal output sub-module, welding switch submodule, process status detection sub-module and robot controller general purpose I/O submodule, wherein:
The analog signal output sub-module receives the voltage signal that main control computer sends, and outputs to the source of welding current welding current and the wire feed control port of two contravariant arc welding power sources after voltage signal is isolated, amplified;
Welding switch submodule receives the digital signal level that main control computer sends, and outputs to the starting the arc switch of two contravariant arc welding power sources after the digital signal level isolation is amplified;
The starting the arc that the process status detection sub-module is responsible for detecting two contravariant arc welding power source inside successfully reaches the impulsive synchronization terminal signals, and sends to main control computer respectively detecting the high and low value of level signal;
Robot controller general purpose I/O submodule is responsible for detecting welding robot welding key position point signal, and the level value of this signal is transferred to main control computer;
Main control computer is the core of whole arc welding robot jointing monitoring system, the welding robot workpiece starting the arc location point to be welded of walking, main control computer detects the high level signal of the starting the arc location point that sends from robot controller general purpose I/O submodule, send high level signal to welding switch submodule simultaneously, carry out starting the arc operation; The beginning starting the arc stage, main control computer constantly detects the starting the arc by the process status detection sub-module and becomes function signal, pulse synchronous signal level value, when striking becomes function signal to be high level, send high level signal to robot controller general purpose I/O submodule, welding robot is finished walking, welding action; In the welding process, when main control computer is low level value at pulse synchronous signal, receive the welding pool visual information that vision sensor provides, carry out image and handle, and adjust two contravariant arc welding power sources and control welding robot in real time by interface circuit device according to result;
Robot controller is responsible for detecting the high level signal of welding robot starting the arc location point, and this high level signal is sent to main control computer by robot controller general purpose I/O submodule, and receive the walking command signal that main control computer sends by robot controller general purpose I/O submodule, and the command signal of will walking is transferred to welding robot;
Welding robot receives the walking command signal that robot controller sends, and finishes walking and welding action.
As shown in Figure 2, described analog signal output sub-module is connected with two contravariant arc welding power sources with main control computer respectively, total two-way analog signal, be respectively peak point current and regulate analog signal output circuit and wire feed rate adjusting analog signal output circuit, main control computer is gathered the situation of weld pool image by vision sensor, the analog voltage signal of output 0～10V is through elementary compensated operational amplifier, linear optical coupling is isolated, amplify through secondary operational amplifier again and output to source of welding current welding current and wire feed control port, output voltage values is entered as linear change according to it, therefore, can regulate the size of peak point current and wire feed rate.
Behind the described arc stability to be welded, the striking of the status monitoring port of two inverters successfully reaches the impulsive synchronization terminal signals, isolates by digital optocoupler TLP521-1, is input to main control computer.
Described welding switch submodule is finished the automatic starting the arc of main control computer of two contravariant arc welding power sources, welding switch submodule receives the digital high signal that main control computer sends, by digital optocoupler TLP521-1 isolate, signal amplifies after relay is connected to the welding switch of two contravariant arc welding power sources;
Described process status detection sub-module is responsible in real time, and the striking of the two contravariant arc welding power source status monitoring ports of detection successfully reaches the impulsive synchronization terminal signals, after the welding arc stablility burning, this submodule is striking success terminal high level signal, send to main control computer by digital optocoupler TLP521-1 isolation, welding robot is carried out normal welding, simultaneously, main control computer constantly detects impulsive synchronization terminal signals level value, guarantees that IMAQ is stuck in to gather weld pool image between low period;
Robot controller general purpose I/O submodule is connected with robot controller with main control computer respectively, total two paths of signals, wherein one the tunnel is that robot ambulation is confirmed the digital output signal circuit, main control computer sends high level signal, isolate by digital optocoupler TLP521-1, signal amplifies after relay outputs to welding robot controller general purpose I/O port, carry out the instruction of welding robot walking confirmation signal, another way word input signal circuit, reception is input to main control computer from the current key position point signal of welding robot by digital optocoupler TLP521-1 isolation.
TLP521-1 numeral optocoupler is that the signal of telecommunication of input is converted to optical signal, passes to photosensitive tube and is converted to signal of telecommunication output, has the isolation interference effect.Wherein, important technological parameters is: current transfer ratio is 50% (minimum of a value), isolation voltage 2500Vrms (minimum of a value), collector emitter voltage 55V (minimum of a value).
As shown in Figure 3, described visual sensing system comprises vision sensor, image pick-up card, and image pick-up card is installed in the main control computer PCI slot, links to each other with vision sensor by video line.
Described vision sensor comprises: the composite filter system, mirror system, sensor stand 1, ccd video camera 5, the composite filter system, mirror system all is fixed on the sensor stand 1, the composite filter system comprises dim light eyeglass 4, filter glass 3 and lens supports 2, dim light eyeglass 4 and filter glass 3 overlapping being placed on the lens supports 2, lens supports 2 is fixed on the sensor stand 1, and perpendicular to ccd video camera 5 optical axises, mirror system comprises first order reflection mirror 8, secondary reflex mirror 9 and mirror support 10, wherein first order reflection mirror 8 is from the horizontal by 70 degree angles, the main welding front end crater image information of gathering, secondary reflex mirror 9 is from the horizontal by miter angle, mainly be first order reflection mirror 8 to be collected image reflex to ccd video camera 5, whole vision sensor is fixed on the terminal joint of welding robot by sensor stand 1, ccd video camera 5 is connected to the video port of image pick-up card by video line, and its pose changes with the pose in welding robot robot end joint.
Described filter glass 3 is the narrow-band-filter eyeglass of 420～530nm.
Described dim light eyeglass 4 is the combined lens of 10%, 30%, 50% percent of pass.
The diameter of described dim light eyeglass 4 and filter glass 3 is 25mm.
During present embodiment work, the welding robot workpiece starting the arc location point to be welded of walking, robot controller general purpose I/O submodule sends to main control computer and arrives starting the arc location point signal, after main control computer receives this signal, finish starting the arc operation by welding switch submodule, when treating that main control computer detects striking success terminal high level signal, main control computer is by robot controller general purpose I/O submodule, the welding robot walking is also carried out normal welding, main control computer constantly detects impulsive synchronization terminal signals level value simultaneously, between impulsive synchronization terminal signals low period, weld pool image is by the first order reflection mirror, the secondary reflex mirror, reflex on the vision sensor through dim light eyeglass and filter glass again, ccd video camera constantly produces the vision signal of modulation, be processed into image data format through image pick-up card, consign to main control computer, carry out filtering, the integration rim detection, threshold binarization, image processing process such as refinement and curve match extract molten bath characteristic size parameter.According to resulting information, send voltage signal by the analog signal output sub-module, adjust source of welding current welding current and wire feed control port magnitude of voltage in real time.When being welded to terminal point, robot controller general purpose I/O submodule sends current attenuation location point and blow-out location point signal to main control computer, and main control computer sends the blow-out signal for welding switch submodule, and welding arc extinguishes.
As shown in Figure 4, be simultaneously to the input voltage V of analog signal output sub-module circuit with the computer data capture card
AINAnd output voltage V
AOUTSignal is sampled, described experimental data is carried out curve fitting according to least square method, the match target is y=α x+b, the slope that obtains straight line is 1.195, the linearity of present embodiment neutral line optocoupler is 0.3%, the input output voltage measured value precision height, the linearity is good, satisfies the requirement of welding process output current, wire feed signal fully.
Present embodiment passes through visual sensing system, can control more neatly with the monitoring robot welding process in some dynamic welding variables and molten bath multidate information, research and the exploitation dynamically controlled for the welding process of arc welding robot provide a kind of experiment porch, on this basic platform, can develop the function that some robots dispatch from the factory and do not possess more easily, improved the welding process monitoring capacity of user, expanded the application of robot and have important effect in the Automation of Welding field to arc welding robot.
Claims (10)
1. the arc welding robot jointing monitoring system based on visual sensing is characterized in that, comprising: visual sensing system, two contravariant arc welding power source, interface circuit device, main control computer, robot controller, welding robot, wherein:
Visual sensing system is responsible for the image of dynamic acquisition welding pool in welding process, and the image of being gathered is sent to main control computer by video line;
Two contravariant arc welding power sources comprise status monitoring port, source of welding current welding current and wire feed control port, wherein the status monitoring port comprises striking success terminal and impulsive synchronization terminal, two contravariant arc welding power sources are to send the starting the arc by starting the arc success terminal to become function signal to give main control computer in the welding incipient stage, and receive from the adjustment signal of main control computer to the magnitude of voltage of two contravariant arc welding power source welding currents and wire feed control port;
Interface circuit device comprises: the analog signal output sub-module, welding switch submodule, process status detection sub-module and robot controller general purpose I/O submodule, wherein: the analog signal output sub-module receives the voltage signal that main control computer sends, voltage signal is isolated, output to the source of welding current welding current and the wire feed control port of two contravariant arc welding power sources after the amplification, welding switch submodule receives the digital signal level that main control computer sends, the starting the arc switch of two contravariant arc welding power sources will be outputed to after the digital signal level isolation amplification, the starting the arc that the process status detection sub-module is responsible for detecting two contravariant arc welding power source inside successfully reaches the impulsive synchronization terminal signals, and detecting the level signal height, low value sends to main control computer respectively, robot controller general purpose I/O submodule is responsible for detecting welding robot welding key position point signal, and the level value of this signal is transferred to main control computer;
Main control computer is the core of whole arc welding robot jointing monitoring system, the welding robot workpiece starting the arc location point to be welded of walking, main control computer detects the high level signal of the starting the arc location point that sends from robot controller general purpose I/O submodule, send high level signal to welding switch submodule simultaneously, carry out starting the arc operation; In the beginning starting the arc stage, main control computer constantly detects the starting the arc by the process status detection sub-module and becomes function signal, pulse synchronous signal level value, when striking becomes function signal to be high level, sends high level signal to robot controller general purpose I/O submodule; In the welding process, when main control computer is low level value at pulse synchronous signal, receive the welding pool visual information that vision sensor provides, carry out image and handle, and adjust two contravariant arc welding power sources and control welding robot in real time by interface circuit device according to result;
Robot controller is responsible for detecting the high level signal of welding robot starting the arc location point, and this high level signal is sent to main control computer by robot controller general purpose I/O submodule, and receive the walking command signal that main control computer sends by robot controller general purpose I/O submodule, and the command signal of will walking is transferred to welding robot;
Welding robot receives the walking command signal that robot controller sends, and finishes walking and welding action.
2. the arc welding robot jointing monitoring system based on visual sensing according to claim 1, it is characterized in that, described analog signal output sub-module is responsible for paired pulses peak value welding current and wire feed rate detects in real time and adjusts, the analog signal output sub-module receives the voltage signal that main control computer sends, and isolates, amplifies welding current and the wire feed control port that outputs to the source of welding current through secondary amplifier again through elementary amplifier compensation, linear optical coupling.
3. the arc welding robot jointing monitoring system based on visual sensing according to claim 1, it is characterized in that, described welding switch submodule is finished the automatic starting the arc of main control computer of two contravariant arc welding power sources, welding switch submodule receives the digital high signal that main control computer sends, and isolates by digital optocoupler, relay and amplifies the starting the arc switch that outputs to two contravariant arc welding power sources.
4. the arc welding robot jointing monitoring system based on visual sensing according to claim 1, it is characterized in that, described process status detection sub-module is responsible in real time, and the striking of the two contravariant arc welding power source status monitoring ports of detection successfully reaches the impulsive synchronization terminal signals, when the successful striking of two contravariant arc welding power sources, this submodule sends to main control computer to striking success terminal high level signal, welding robot is carried out normal welding, simultaneously, in normal welding process, constantly detect impulsive synchronization terminal signals level value, guarantee that IMAQ is stuck in to gather weld pool image between low period.
5. the arc welding robot jointing monitoring system based on visual sensing according to claim 1, it is characterized in that, described robot controller general purpose I/O submodule, be responsible for detecting welding robot welding key position point signal detection and welding robot walking confirmation signal, welding key position point signal comprises: starting the arc location point, current attenuation location point and blow-out location point signal are delivered to main control computer to the current key position point signal of welding robot by the digital optocoupler in robot controller general purpose I/O submodule.
6. the arc welding robot jointing monitoring system based on visual sensing according to claim 1, it is characterized in that, described visual sensing system, comprise vision sensor, image pick-up card, image pick-up card is installed in the main control computer Peripheral Component Interconnect slot, links to each other with vision sensor by video line.
7. the arc welding robot jointing monitoring system based on visual sensing according to claim 6, it is characterized in that, described vision sensor comprises: CCD imageing sensor video camera, the composite filter system, mirror system and sensor stand, CCD imageing sensor video camera, the composite filter system, mirror system all is fixed on the sensor stand, the composite filter system comprises the dim light eyeglass, filter glass and lens supports, dim light eyeglass and filter glass are overlapping to be placed on the lens supports, lens supports is fixed on the sensor stand, and perpendicular to CCD imageing sensor camera optical axis, mirror system comprises the first order reflection mirror, secondary reflex mirror and mirror support, the first order reflection mirror, the secondary reflex mirror all is arranged on the mirror support, the first order reflection mirror is from the horizontal by 70 degree angles, the first order reflection mirror is responsible for gathering welding front end crater image information, the secondary reflex mirror is from the horizontal by miter angle, the secondary reflex mirror collects image with the first order reflection mirror and reflexes to CCD imageing sensor video camera, and whole vision sensor is fixed on the terminal joint of welding robot by sensor stand.
8. the arc welding robot jointing monitoring system based on visual sensing according to claim 7 is characterized in that, described filter glass is the narrow-band-filter eyeglass of 420～530nm.
9. the arc welding robot jointing monitoring system based on visual sensing according to claim 7 is characterized in that, described dim light eyeglass is the combined lens of 10%, 30%, 50% percent of pass.
10. the arc welding robot jointing monitoring system based on visual sensing according to claim 7 is characterized in that, the diameter of described dim light eyeglass and filter glass is 25mm.
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| US4724302A (en) * | 1987-03-30 | 1988-02-09 | General Electric Company | Bead process control with profiler |
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| CN1331642C (en) * | 2004-07-15 | 2007-08-15 | 上海交通大学 | Single eye visual sensor for welding robot and its hand-eye relation quick marking method |
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