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Visual servo control system for narrow butt seam

机译：窄对接接缝的可视伺服控制系统

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摘要

In this paper a visual servo control system is designed to realize the accurate tracking of the narrow butt seam of the thin plate. An effective “and” operation and statics method is proposed to reduce the image noises caused by various disturbances in the welding process. And the ROI of the image is determined to improve the efficiency of the image processing. The feature line of the thinned seam is extracted by using combination of hough transform and least square line fitting technique. Moreover the method used in this study ensured the safety and reliability. In terms of controller, to guarantee the reliability, image error filtering and output pulse verification is added to the controller. Finally, a series of experiments were conducted to verify the good performance of the proposed seam tracking system.
机译：在本文中，视觉伺服控制系统旨在实现薄板窄对接接缝的准确跟踪。提出了一种有效的“和”操作和静音方法，以减少焊接过程中各种干扰引起的图像噪声。并且确定图像的ROI以提高图像处理的效率。通过使用Hough变换和最小二乘线拟合技术的组合来提取所述稀疏接缝的特征线。此外，本研究中使用的方法确保了安全性和可靠性。在控制器的情况下，为了保证可靠性，将图像错误滤波和输出脉冲验证添加到控制器。最后，进行了一系列实验以验证所提出的接缝跟踪系统的良好性能。

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