Research Of Edge Tracking And Applied Technology Based On Computer Vision

The essence of the following technologies: Automatic Weld Seam Tracking, future-cutting steel plate edge tracking technology , sideline tracking technology used in large size workpiece measure is actually the tracking of characteristic angles , points and lines (including beeline or curve in space). Therefore, in order to better apply the technology to practical engineering, and according to the demand of real productions, researchers have designed and utilized the active visual sensing systems of such equipments as CCD cameras, image-gathering card and IPC(Industrial Personal Computer),etc. They also have done research of edge tracking technology of the representative curved surface steel plates.In this thesis the writer has designed and finished the hardware system structure for the steel plates edge tracking and then systematically analyzed the image processing algorithm. Through image processing experiments, the writer confirms that the process and algorithm of the image processing of structured light based steel plate edge tracking: medium filtering; doing binarization research of tracking image by threshold value partition; The writer put forward a thinningmethod------using the laser striation's right-and-left edge recognition to getmidline ; and searching technique - using characteristic points of the steel plate edges , from the top to down, from left to right.The experiments show that it can achieve good effect through calculating the characteristic points of the steel plate edges and their origins ' relative locations in the camera's coordinate system to locate steel plate edges. Treat the physics derivation of the following limb gotten by trigonometry structured light measuring principle as the tracking derivation of the movement equipment .Through calibrating the servo system's movement, translating it into the tracking system's controlled deviation, the writer analyses the algorithm used in deviation controls and their separate characteristics and does the PID setting on programmable motion control card. Through coordinating the motion control program of the upper computer and the movement program in the bottom layer of Programmable Multi-Axis Controller the systems can, according to deviation through program, control servomechanism movement in order to correct control, so as to reach the goal of steel plate edge tracking. By doing tracking experimental researches, tracking system successfully reaches the desired target. Finally, specific solution is presented, together with the key techniques used in the program of curved surface steel plates.