计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2015年
2期
30-34
,共5页
激光视觉%图像处理%焊缝跟踪%双队列
激光視覺%圖像處理%銲縫跟蹤%雙隊列
격광시각%도상처리%한봉근종%쌍대렬
laser vision%image processing%weld seam tracking%dual queues
设计与实现了一套激光视觉引导的焊缝自动跟踪系统，包括系统的整体硬件构成和关键算法。在工业机器人末端安装激光视觉传感器构成焊缝跟踪系统的硬件部分。采用小波变换滤除焊缝图像噪声，采用改进的Steger算法和Hough变换方法提取激光条纹中心直线，进一步提取出焊缝位置。提出一种双队列控制策略，在采集的焊缝特征点的基础上进一步插值，从而实现激光视觉引导的焊缝自动与平滑跟踪。实验结果表明，该系统具有较好的跟踪精度，能满足工业实际需求。
設計與實現瞭一套激光視覺引導的銲縫自動跟蹤繫統，包括繫統的整體硬件構成和關鍵算法。在工業機器人末耑安裝激光視覺傳感器構成銲縫跟蹤繫統的硬件部分。採用小波變換濾除銲縫圖像譟聲，採用改進的Steger算法和Hough變換方法提取激光條紋中心直線，進一步提取齣銲縫位置。提齣一種雙隊列控製策略，在採集的銲縫特徵點的基礎上進一步插值，從而實現激光視覺引導的銲縫自動與平滑跟蹤。實驗結果錶明，該繫統具有較好的跟蹤精度，能滿足工業實際需求。
설계여실현료일투격광시각인도적한봉자동근종계통，포괄계통적정체경건구성화관건산법。재공업궤기인말단안장격광시각전감기구성한봉근종계통적경건부분。채용소파변환려제한봉도상조성，채용개진적Steger산법화Hough변환방법제취격광조문중심직선，진일보제취출한봉위치。제출일충쌍대렬공제책략，재채집적한봉특정점적기출상진일보삽치，종이실현격광시각인도적한봉자동여평활근종。실험결과표명，해계통구유교호적근종정도，능만족공업실제수구。
It designs and realizes a set of laser vision guided automatic seam tracking system, including overall system structure and key algorithms. A laser vision sensor is installed at the end of an industrial robot. Wavelet transform is used to filter image noise and improved Steger algorithm and Hough transform method are applied to extract the laser stripe center line. Then the position of welding seam is located. A strategy of dual queues is put forward to control the move-ment of the manipulator, and a series of intermediate points among welding points are obtained by interpolation, so as to realize the automatic and smooth tracking of weld laser visual guide. The experimental results show the system has good tracking accuracy and can meet the industrial requirement.
