【作者】 刘南生； 邹华园； 刘明友； 郭昌荣； 魏升； 疗妍丽；

【Author】 Liu Nan-sheng Zou Hua-yuan Liu Ming-you Gou Chang-rong Liao Yan-li(Physics department, Nanchang University, Nanchang 330047,China;School of Mechanical and Electronic Engineering, Nanchang University, Nanchang 330029, China)

【机构】 南昌大学物理系； 南昌大学机电学院；

【摘要】 爬行式弧焊机器人的工作环境非常恶劣,强烈的弧光干扰,燃烧的气体、飞溅的铁屑尘埃,影响了焊缝图像信息的提取,爬行的运动方式又要求能跟踪焊缝,因此,研制性能优秀、稳定可靠的结构光三维视觉传感器非常重要。对传感器的图像预处理方法进行深入的研究,介绍图像大小选取原则,采用拉普拉斯锐化并确定合适的运算模板,根据结构光条纹分布及图像的统计分布特性进行阀值分割,再通过形态学原理进行条纹细化,能较好的完成图像预处理任务。更多还原

【Abstract】 The job circumstance of crawling arc welding robot are very had, strong are interference, burning gas, splash iron filings and dusts are all influence the collect of image information, crawling move way is demanded to track weld seam, therefore, it is very important to study structure light of three-dimension visual sensor which possess outstanding, steady and reliable function. It studied the method of image pretreatment, introduces the principle of selecting the size of image, adopts image of strain wave thinning and determines right calculation, pattern plate, according to the character of structural light’s stripe distribution and image statistical distribution, makes threshold value partition, then, through the principle of morphology, makes stripe thin, finally, finished the image pretreatment task better.更多还原