Based on the visual image sensing method extraction of the characteristic parameters of the weld penetration in electron beam welding of aluminum alloy was investigated with the flat plate and the slope plate experiments .

基于视觉图像传感方法，通过设计的平板和 斜板试验，对铝合金电子束焊接 熔透特征量的提取进行了研究。

Chapter 5 is weld structure design introduce the weld joint of slope form and size . In order to improve the fatigue resistance of weld seam the welding material welding seam size form and craft of welding are scheduled .

第5章为焊接结构设计，介绍 焊接接头 坡口形式和尺寸，为提高焊缝的抗疲劳性能，研究了焊接材料、焊缝尺寸型状、焊接工艺；

Welding pose includes weld position and torch orientation which is represented by weld slope weld rotation torch work angle and traveling angle .

焊接位姿包括焊缝位置和焊枪姿态，可以用 焊缝 倾角、焊缝转角、焊枪工作角和焊枪行走角四个参数来表征。

According to the model of the welding position giving a weld seam point the weld orientation then can be resolved from the weld rotation angle and the weld slope angle .

根据焊缝位置的数学模型，得到了描述焊缝焊接位置的参数&焊缝转角和 焊缝 倾角与焊缝姿态的关系。

According to reflection law of light the depth of the weld pool is adjusted by using the slope as iterative variable . Finally an engineering solution of the weld pool surface is obtained .

利用光学反射定律，以 斜率作为迭代变量不断调整 熔池表面深度，最终得到熔池表面形貌的工程解。