Research On Multi-Source Information Detection System Of Arc Welding Robot

During the robotic welding, for the sake of getting over the effect of uncertain factors, enhancing welding intelligence and working dependability of arc robot, achieving welding parameter's inline redressal, and the welding quality being controlled, the arc robot must have the ability of real-time quality detection.So, the multi-information quality detection system is mentioned, it includes visual sensing and the system of radiation thermometry. For solving the problem of electric arc. composite filter technology and pulse-burst electrocircuit are added.A lot of image processing arithmetic of weld pool is studied in the context, and an effective image processing plan is devised in terms of them. According to the deep analysis of the original image, firstly, the Wiener operator is used to filter, and then the Otsu arithmetic is used to pick up optimum value to binary. The morphological arithmetic of erosion, clearing smaller area object and dilation method and Prewitt are also used in this paper. Finally, the clear edge of molten pool is obtained.For describing the shape of weld pool, simple and valid shape parameters for determining the shape of weld pool are presented in this paper: half-length L ,maximal width W, back-dragging angleθand area of weld pool. After picking-up the edge of weld pool, the image is canned, to obtain the pixel value of characteristic parameter. In order to translate the pixel value into physical value, the vision sensing system is demarcated.According to the characteristic of welding temperature field, the methods of the radiation thermometry and the principle of selecting wavelength are probed in this paper. According to the theory of Kramers-Unsold, the radiation intensity of arc is obtained; the model of arc radiation is built. The ratio of signal to noise is used to analyze the effect of arc on radiation thermometry, which the three factors of the angle of temperature detector, wavelength and the arc effective temperature are considered. The method of temperature measurement is feasible when the arc current is decreased to a smaller value in welding processs.