摘要
针对在焊接机器人焊缝跟踪传感器中不同类型工件焊缝接头的结构光图像特征,提出一种图像特征选择与提取方法.首先,对图像进行自适应分割,提取出激光条纹中心线.再根据三种典型焊缝接头类型:预留坡口对接类,无坡口直接对接类和左、右搭接类型焊缝的结构光图像的特点,分别选择激光条纹曲线的沟槽中心、条纹曲线的转折点和间断点作为焊缝特征点,分别进行提取.对不同类型焊缝结构光图像的处理实验结果,验证了本文方法的有效性.
According to various types of images features of welding work pieces joints in vision sensor for seam tracking in welding robot, a method of features selection and extraction for structured light images is proposed. Images are fragmented with adaptive thresholds, and the centerlines of laser stripes are extrac- ted. By the characters of three typical joints： the groove joints, the butt joints and the left or right lap joints, the points of center gravity of grooves, turning points and the points of discontinuity of stripes are selected as features to be extracted respectively. Test results of images of different type joints testify the efficiency of the method.
出处
《传感技术学报》
CAS
CSCD
北大核心
2006年第6期2676-2681,共6页
Chinese Journal of Sensors and Actuators
基金
国家"863"项目资助(2002AA422160)
关键词
焊接机器人
结构光视觉
特征提取
焊缝跟踪
welding robot
structured light vision
features extraction
seam tracking
