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Weld image feature point extraction method based on laser vision sensor

An image feature point, visual sensor technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problem of cumbersome image feature point extraction algorithm, improve efficiency, etc., to simplify the amount of calculation and complexity, improve real-time performance , the effect of reducing redundant information

Inactive Publication Date: 2016-06-15
NANJING UNIV OF TECH +1
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Problems solved by technology

This method has the advantages of high reliability and resistance to stray light or laser reflection, but the extraction algorithm of image feature points is cumbersome, and the efficiency needs to be improved urgently

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  • Weld image feature point extraction method based on laser vision sensor
  • Weld image feature point extraction method based on laser vision sensor
  • Weld image feature point extraction method based on laser vision sensor

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0017] Such as Figure 1-3 As shown, a laser vision sensor-based weld image feature point extraction method includes the following specific steps:

[0018] 1. After thinning the image, the obtained laser stripe center line has five feature points (A, B, C, D, E) that need to be extracted, and define the coordinate system where they are located, first from left to right, from top to bottom Search for the first non-zero gray value point successively, this point is recorded as point A, and its pixel point is marked as (iA, jA); search for the first non-zero gray value point successively from right to left, top to bottom , this point is recorded as point E, and its pixel is marked as (iE,jE);

[0019] 2. Use the rotation algorithm to rotate the laser stripe image to the horizontal direction, the rotation angle is θ, and the coordinate system afte...

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Abstract

The invention discloses a weld image feature point extraction method based on a laser vision sensor. The method searches for a first gray-scale non-zero point from different directions and thus can quickly search for feature points of a weld image. Especially when the image has an inclination angle, the method uses a rotation algorithm to rotate a laser strip image to the horizontal direction, so that a feature point C can be quickly found. A window searching algorithm is designed to quickly extract a feature point B and a feature point D. With the method, the robustness of system tracking can be improved, and the resistance to interference is high. The method can also be improved to be applied to a V-shaped groove with a gap or a butt weld.

Description

technical field [0001] The invention relates to a method for quickly extracting image feature points in a laser vision welding seam tracking system, which can be widely used in robot intelligent welding and the like, and belongs to the field of advanced manufacturing and automation. Background technique [0002] With the rapid development of production automation and intelligent technology, the traditional teaching and reproduction automatic welding is gradually changing to intelligent welding with the help of sensors to automatically identify weld seams due to its own limitations. The laser vision sensor is a non-contact sensor with a series of advantages such as large amount of information, high measurement accuracy, strong anti-electromagnetic interference, and wide application range. It has become the mainstream development direction and research hotspot of the weld seam tracking system. Enter the practical stage. In the process of using the laser vision sensor to track...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T7/0004G06T2207/30108
Inventor 周剑秋吴波朱建威杨晶歆潘燕萍
Owner NANJING UNIV OF TECH
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