中文摘要：

通过对管道全位置熔化极气体保护焊（gas metal arc welding,GMAW）熔池图像的研究分析,发现并验证了其根焊熔池图像尖端与焊缝坡口中心位置重合的现象,依据此规律性特征,提出了一种基于熔池图像尖端信息的焊接偏差测定方法.该方法的基本原理是,在对焊接过程熔池CCD图像进行中值滤波、小波变换、连通区域分割等图像处理后,以搜索算法测得的根焊熔池图像尖端位置信息作为焊缝坡口中心位置的坐标值,此值与焊丝中心坐标值之差即为焊接偏差量.试验证明,此方法能从根焊熔池图像中实时测定焊接偏差量,为实现机器人自动焊缝跟踪控制提供了可靠依据.

英文摘要：

Through the research and analysis of the image of all-position pipeline gas metal arc welding（ GMAW） pool,a phenomenon that the root welding molten pool image tip edge is overlapped with the weld groove center has been found and verified. Based on this discovery,a kind of method for detecting the welding deviation has been developed. The principle of this method is to detect the tip position of the root weld pool＇s CCD image as the weld groove center position coordinate value by the way of median filtering,wavelet transform,region segmentation and searching algorithm. Then the welding deviation can be calculated by the difference of weld groove center and wire center coordinate value. Experiments show that this method can obtain the welding deviation from the root weld pool image in real time and can provide a reliable basis for the automatic seam tracking control of welding robot.