| The vision system on special-purpose robot for hydraulic turbine repair, is mainly used to distinguish the drawback on blade surface, control the robot tracking the weld seam, regulate timely the gesture of weld gun and finish the rewelding.The paper adopts laser scanning of the method of positive vision basing on the principle of triangle measure to detect the drawback of hydraulic turbine blade .The image collected by CCD camera include a great quantity of noise. The paper utilizes the knowledge on image processing and the international advanced method of wavelet transform, including image enhancement, image compression, image denoise and edge detection. It uses the image processing toolbox and wavelet toolbox of Matlab to process the image and contrast the Fourier transform. Therefore, it provides the foundation to control the manipulator and weld gun. |
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