基于主动光视觉法的实时焊缝跟踪控制系统的研究

Research on real time seam tracking and control system based on active vision technique

采用LOG滤波、中值滤波等图像预处理方法,有效去除了实时焊缝跟踪控制系统中的各种噪声;采用Robert算子作边缘检测,较好地保留了激光光带的边缘,并且处理速度快;设计了参数自整定模糊控制器,实现了量化因子和比例因子的在线自调整。

In the real time seam tracking and control system,the LOG filtering and median filtering techniques are used in image pre-processing to gain better effect.The Robert operator,an effective and high speed processing methods,is used to keep the edge of laser light belt.A fuzzy controller with self-adjusting parameters is designed.