Acqusition and processing of seam image based on reflected arc light

It is the key issue for the seam tracking to obtain the high quality images which are convenient to be processed in arc welding process shielded by the gas of CO₂.Firstly, on the basis of the principle that reflectors with curved surface reflect arc, a structure with the paraboloid of the reflecting mirror was constructed on the welding torch of the robot.The structure can produce parallel light by dint of arc which irradiates the area monitored by the CCD camera.The lum of the area is limited to the extent that is adapt to the camera.Secondly, the usability of the obtained images was discussed according to the characteristics of the welding process of short-circuit transfer and the directions of splash.Based on the algorithm of robot difference-moving, the obtained images were processed.The result of experiments has proved the validity of the method.