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Seam image processing is the basis of the realization of automatic laser vision seam tracking system,and it has become one of the important research directions.Adding windows processing,gray processing,fast median filtering,binary processing and image edge extraction are used to pretreat the seam image.In the post-processing of seam image,the feature points of the target image are successfully detected by using center line extraction and feature points detection algorithm based on slope analysis.The whole processing time is less than 150 ms,and the real-time processing of seam image can be implemented. 相似文献
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针对工业机器人多层多道焊缝纠偏问题,提出一种基于视觉传感的人机互动机器人焊缝纠偏方法,并建立相应的视觉传感焊缝纠偏控制系统。该系统主要包含视觉传感采集及标定和机器人焊缝纠偏控制两个子系统。将工业相机安置在焊枪上得到拍摄的实时焊接图像,然后利用Windows Forms开发的焊接监控软件,工作人员通过观察监控界面,能够对焊枪偏离焊缝是否超过允许范围做出判断,再通过控制面板发出纠偏指令传送至可编程逻辑控制器(Programmable logic controller,PLC),PLC向机器人控制器发出控制信号,机器人调用机器人传感器接口(Robot sensor interface,RSI)的信息流,将PLC控制信号转化为机器人末端偏移量并执行,使焊枪调整至合适位置,达到焊缝纠偏控制目标。在验证试验过程中,该系统反应较灵敏,焊缝纠偏准确度较高,整个过程运行平稳,焊缝成形质量良好。 相似文献