An image processing method of welding robot based on prior knowledge

被引：0

作者：

Wu X. ^{[1
]}

Li Q. ^{[1
]}

Jiao J. ^{[2
]}

Qi B. ^{[3
]}

机构：

[1] Beijing Jiaotong University, School of Mechanical and Electronic Control Engineering, Beijing

[2] CSR Qingdao Sifang Locomotive Limited by Share Ltd Technology Center, Qingdao

[3] School of Mechanical Engineering & Automation, Beihang University, Beijing

来源：

Hanjie Xuebao/Transactions of the China Welding Institution | 2018年 / 39卷 / 01期

关键词：

Arc welding robot; Image processing; Prior knowledge; Robot vision; Skeleton;

D O I：

10.12073/j.hjxb.2018390028

中图分类号：

学科分类号：

摘要：

In the vision detection methods for shooting the image directly with CCD of arc welding robot, This paper proposes a practical recognition algorithm for complex weld images with black note marks, scratches, and cross interferences with welds, and puts the emphasis on several key issues of this algorithm, such as the skeleton thinning, splitting, merging and pruning of edge chains, and the judgments of location relations based on prior knowledge, etc. The experimental results demonstrate that the algorithm can effectively remove the black notes, scratches and cross interferences and can automatically extract the weld track in complex weld images. The algorithm has strong adaptability and expandability, and can be applied to other complex images with a slight improvement,such as images with arc light or structured light, etc. The algorithm can provide some technical reference for further improving the intelligent vision detection of arc welding robot. © 2018, Editorial Board of Transactions of the China Welding Institution, Magazine Agency Welding. All right reserved.

引用

页码：123 / 128

页数：5

共 5 条

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