【摘要】 针对水轮机修复专用机器人视觉系统进行了系统地描述,并对其硬件与图像处理方法作了较详细地阐述.采用主动视觉检测法,利用CCD摄像机等相关硬件获取图像和小波变换对获取后图像进行处理,实现了对叶片表面缺陷的识别并且引导机器人焊枪跟踪焊缝,实时调整焊枪姿态,以完成补焊及焊后打磨工作.更多还原

【Abstract】 The visual system of the special-purpose robot for hydraulic turbine repair is described systematically and its hardware components and methods of the image processing are also discussed in detail. By taking positive vision testing method and CCD camera to gain image and wavelet transform for image processing, the identification of the defect on vane surface is realized to implement the weld seam tracking, regulate timely the attitude of weld gun, and, finally, finish the rewelding and polishing.更多还原