摘要:
根据视觉条件下水下自动化焊接的特殊要求,设计了一套机器人水下视觉焊缝跟踪系统.针对水下焊缝图像干扰严重、模糊等特点,采用小波变换技术去除了弧光、飞溅等干扰噪声,采用改进的模糊增强图像处理方法,提高了图像处理的效率,获取了清晰的边缘图像.边缘检测后,对焊缝左右特征点进行扫描,准确地提取了焊缝中心.为了减小跟踪误差,将焊缝轨迹中的每个小线段的坐标偏移量分成50等份,同时设计了有效地机器人轨迹跟踪控制程序.水下斜线和曲线焊缝的跟踪试验表明,在正常的条件下,可以满足跟踪要求。
Abstract:
According to the special requirements of underwater automatic welding under environment of vision, a robotic underwater visual weld seam tracking system is developed.As underwater weld seam images are serious interference and fuzzy, wavelet transform technology is used to remove arc、splashing interference noise. An improved fuzzy enhancement image processing algorithm is adopted to improve the efficiency of image processing and obtain clear edge image.The weld seam center is picked up accurately by scanning the weld seam's left and right feature points after edge detection.In order to reduce tracking error, the coordinates offset of each small segment in weld track is divided into fifty parts, at the same time, an effective robot tracking control program is presented.The tracking experiment of sidelong, S-shape weld seam line showed that it can satisfy tracking demand under normal conditions.
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