基于分区减光的电弧增材制造熔敷道尺寸主被动联合视觉检测

设计了电弧增材制造熔敷道成形尺寸主被动联合视觉检测方法，以克服结构光主动视觉传感的滞后性与被动视觉传感的信息单一性. 为了实现极高亮度的熔池与极低亮度的结构光条纹在同一CCD靶面同时清晰成像，提出了分区减光策略，对熔池与结构光条纹进行差异化的减光，使二者光强在减光之后水平相当，进而清晰成像. 相机成像光路分析表明，需要将分区减光元件设置在镜头前方一倍焦距以外或镜头后方焦点与靶面之间. 该方法实现了单CCD在一幅图像中同时清晰拍摄熔池和结构光条纹. 开发了一套图像处理算法，实时提取出了熔敷道尺寸. 结果表明，熔敷道高度检测误差优于0.1 mm，宽度检测误差优于0.2 mm.     

动态电子矿图系统的研制及应用

论文对以下两个问题进行了研究:一、将煤矿生产中的数据格式化、标准化并将其原始数据转化为电子数据;二、以AutoCAD中绘制的采掘工程平面图、立体图为基础,利用ADO技术建立二维、三维电子矿图的双向动态查询系统。动态电子矿图系统已在平顶山煤业集团一矿得到了初步应用。     

多视场星敏感器结构布局优化

星敏感器是应用于航天器的重要的姿态测量器件.多视场星敏感器与传统单视场星敏感器相比,在测量精度及可靠性方面具有明显优势,是星敏感器技术发展的重要方向.如何对多视场星敏感器的安装结构进行优化布局,获得最佳的姿态测量效果,是多视场星敏感器在设计与应用过程中需要首先解决的关键问题.从测量精度出发,对多视场星敏感器的结构布局进...     

Microstructures and hardness of flat overhead weld of the high strength steel thick plate using double-sided arc welding

High strength steel thick plate is widely used in shipbuilding, pressure vessels, etc., the balance between weld quality and welding efficiency is becoming a research focus. In this paper, double sided double arc flat-overhead welding experiments for high strength steel thick plate were conducted. Microstructures of weld have been observed through optical microscope (OM) and scanning electron microscope (SEM). Transformation of microstructures under thermal cycles of multi peaks was analyzed. Macro and micro hardness were also tested. The results show that the heat-affected zone (HAZ) near the fusion line experiences thermal cycles up to three times. The microstructures there are the most complex, including coarse lath martensite in original coarse-grained zone, and net like structure along grain boundaries in critical reheat coarse grained zone. After several times of tempering for backing welding, the features of acicula and lath are weakened. Its microstructure approaches to the microstructure of base metal which is tempering sorbite. The hardness test shows that the maximum hardness occurs at critical reheat coarse-grained zone, the hardness of reticulation structure at grain boundary can be up to 450HV.     

高固相含量水基陶瓷悬浮液的制备

介绍了高固相含量水基陶瓷悬浮液的三种制备方法，简述其制备过程，阐明了各自的特点。     

基于线结构光的四通道舵偏角同步动态测量系统

针对现有舵偏角同步动态测量中存在的局限性,设计一套四通道舵偏角同步动态测量系统.在系统标定中,通过计算光条直线的Plücker矩阵求解光平面方程,完成视觉传感器的局部标定.以2个连接在一起的平面靶标为中介,通过两两校准方式实现多视觉传感器的全局校准.在实际测量中,基准视觉传感器拍摄基准装置,建立基准坐标系,其余4个视觉传感器分别测量对应舵面在基准坐标系下的法向矢量,通过连续测量实现四通道舵偏角的同步动态测量.经试验证明,在测量角度±30°范围内,该系统角度测量RMS误差可达±0.05°.     

基于旋转不变的角点匹配方法

针对存在旋转的两幅图像,提出了基于主方向和灰度相关的角点匹配方法.构造每个角点邻域的梯度直方图,以确定角点的主方向.在匹配过程中,用极线约束确定一幅图像中的角点在另一幅图像中的候选匹配角点;建立待匹配角点和候选匹配角点的左右邻域窗口,并根据两角点的主方向旋转右邻域窗口,再进行灰度相关系数计算,确定最终匹配的角点;最后用松弛法消除虚假匹配.该算法首次将经典的灰度相关法应用在大旋转和平移的宽基线图像匹配中,克服了传统灰度相关法不能处理大旋转的图像匹配问题.实验结果表明:本方法具有稳定性、可靠性和快速性,有一定的实用价值.     

平顶山矿区一矿煤矸石特征及其利用途径分析

采集平顶山矿区一矿煤矸石山混合矸,经过粉碎、研磨、缩分后,采用常规化学分析、XRF、XRD、SEM、EDS、FTIR和DSC-TG研究煤矸石的化学组成和矿物组成,用高纯锗γ能谱法检测煤矸石的放射性,根据GB/T212-2008、GB/T213-2008对煤矸石进行工业分析和发热量测定.结果表明:煤矸石的主要化学成分为SiO2、Al2O3,以及Fe2O3、CaO、MgO、K2O、Na2O、TiO2、MnO等;矿物组分为高岭石、石英、白云母、白云石、方解石、伊利石和微量黄铁矿,并含有较多的有机碳.煤矸石放射性符合国标A类装修材料的要求,碳含量和发热量达到三类煤矸石要求,可以用来制备烧结砖、水泥和轻集料等建材制品.     

综合自动化系统在耿村煤矿的应用

介绍了综合自动化系统的组成、工作性能,并以义煤集团耿村煤矿为例阐述了系统的应用情况。实践证明,通过采用监控监测技术、视频技术、网络技术、数字信号传输技术、计算机多媒体技术等技术,实现了对煤矿机电运输装备的实时监测、监视和远程集控,保证了设备的安全可靠运转,取得了一定的经济效益。     

Kalman filter of the force signal of identifying weld seam in remote teaching

For reasons of the vibration of robot, the rough surface of weld seam and electromagnetic disturbance of welding machine, the force signals of identifying weld seam become unstable. The position error of remote teaching point is too big to meet teaching requirements in remote welding. The force signals of identifying weld seam can be filtered by Kalman. The force signals of identifying weld seam of next teaching point is accurately predicted according to predicting algorithms, such as the equation of the state, the equation of the observation, the gain matrix of the filter and the covariance matrix of predicting state. The experimental results show that the precision of identifying weld seam is improved by Kalman filter.