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14 February 2005 Novel low-cost vision-sensing technology with controllable of exposal time for welding
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In the process of robot Welding, position of welding seam and welding pool shape is detected by CCD camera for quality control and seam tracking in real-time. It is difficult to always get a clear welding image in some welding methods, such as TIG welding. A novel idea that the exposal time of CCD camera is automatically controlled by arc voltage or arc luminance is proposed to get clear welding image. A set of special device and circuits are added to a common industrial CCD camera in order to flexibly control the CCD to start or close exposal by control of the internal clearing signal of the accumulated charge. Two special vision sensors according to the idea are developed. Their exposal grabbing can be triggered respectively by the arc voltage and the variety of the arc luminance. Two prototypes have been designed and manufactured. Experiments show that they can stably grab clear welding images at appointed moment, which is a basic for the feedback control of automatic welding.
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Wenzeng Zhang, Bin Wang, Nian Chen, and Yipeng Cao "Novel low-cost vision-sensing technology with controllable of exposal time for welding", Proc. SPIE 5634, Advanced Sensor Systems and Applications II, (14 February 2005);

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