塞拉门焊缝视觉跟踪图像处理技术

An image processing method for vision tracking of sliding door seam

根据塞拉门框焊点多而短、焊接质量要求高的特点,提出一种机器人间断式弧焊视觉跟踪系统,综合运用灰度变换等方法,建立基于普通光源的视觉跟踪移动窗口图像处理体系,克服传统图像分割方法易受到工件上刀痕亮斑和暗影等噪声干扰的不足,在采集图像中移动与焊缝具有相同形状和大小的窗口,以窗口中所有像素灰度平均值最小窗口作为焊缝当前位置,能有效的滤除刀痕亮斑和暗影噪声。通过焊缝当前位置与标准位置比较,可直接计算出焊缝位置偏差。结果表明,移动窗口焊缝图像处理体系具有很强的适应性和抗干扰能力,能满足实时跟踪要求。

With the rapid development of city railroad vehicles and bullet train, the automatic welding technology should be improved instantly.Welds are numerous and short in sliding door and welding should be high quality and exact,so a vision tracking system of discontinuous robot arc welding with normal lamp-house was produced.A series of processes of vision tracking image with normal lamp-house were established,which is the image processing technologies that gray-scale transform,median filter,image segmentation,e...