基于Zernike矩边缘检测的焊缝信息获取

针对目前焊缝坐标提取方法存在精度较低,难于实现视觉引导的机器人激光焊接高速度、高精度的要求,提出一种基于Zernike正交矩的曲线焊缝位置坐标信息获取算法,该算法首先采用Zernike边缘检测算法识别焊缝边缘,然后提取出焊缝的中心线,最后计算出该中心线的亚像素坐标。通过试验验证了该算法的可行性。

With the consideration of the low coordinate precision of the welding seam by current method,which can' t satisfied with the robot laser welding demand for high speed and high accuracy,a new coordinate acquisition Algorithm based on the Zernike moments edge detection was proposed.In this algorithm,the two edges of the seam were extracted firstly based on the Zernike moments,and then the centre line of the seam is obtained,finally,the subpixel coordinate of the seam can be acquired by computing the centre line coordinate.The availability of the proposed algorithm has been proved by tests.

863计划(2006AA04Z235)资助项目,863项目名称“三分支五自由度复合驱动并联激光焊接机器人机构研究”,颁发机构:国家科技部