外文翻譯--管道焊接機(jī)器人的可視焊縫追蹤系統(tǒng)（英文）

1、T.-J. Tarn et al. (Eds.): Robot. Weld., Intellige. Ii is the intension of incidence light; Id is the intension of diffuse reflection; Is1 is the intension of ideal specular reflected light on smooth surface, and the

2、 di- rection of the reflected light obey the law of reflection; Is2 is the intension of specular reflected light on practical surface. In fact, the reflec- tion surface is composed of many micro mirrors, so the reflecti

3、on direction and the in- tension obey the Gaussian distribution. rd, ks1 and ks2 are coefficients of reflectivity; ? is coefficient of surfaces; r is the dis- tance; d is diameter of the aperture; f is focus; ?c is the

4、observation angle of the cam- era; ?c is the angle of incidence light. Among all the reflection above, the diffuse reflection could clearly image laser stripes as the proper signal for vision sensor; the specular refle

5、ction normally image over saturated and induce glistening area of the stripes in images. So the vision sensor should be positioned to avoid taking specular reflections and to image the laser stripes clearly. In formu

6、la (1), the diffuse reflection could be received in wide range angle; the specular reflections only were received in a narrow range, and the direction obeys the law of reflection. So the camera should avoid the directi

7、on of specular reflections to image clearly. 2.2 Triangle Measure Principle Vision sensor based on structured light triangle measure principle is shown as Fig.2. L is the laser plane, and L’ is the specular reflectio

8、n plane; the direction of optical axis of camera is C. Angle ? is contained by optical axis of camera and the surface of weldment; and angle ? is contained by optical axis of camera and laser plane. Fig. 2. The triangl