基于计算机视觉的油封尺寸检测系统设计

针对油封的大批量、多品种、流水线作业的生产特点以及"零废品率"的检测要求,利用机器视觉检测和计算机图象处理技术,研究开发了适应大批量生产和在线实时检测的油封尺寸机器视觉检测系统;建立了系统软硬件结构,分析了系统的组成和工作原理及工作过程,并对图像处理算法进行了设计;系统标定后的实验检测结果证明,该检测系统能实现产品100%检测的生产目标,具有非接触、在线实时、精度适中、成本低等特点,具有较好的生产通用性。     

Theory of edge perception for computer vision feedback control

In this paper, the authors address the problem of edge-perception for its applications to vision-feedback control in robotic systems.In natural vision, the recognition of objects takes place through the process consisting of eye system, neural networks and cognition. The cognitive process, in turn yields a phenomenon known as perception. This is the phenomenon of perception of physical attributes, such as edges, color and texture, etc., which is responsible for the recognition of objects through the natural vision processes.In this paper, we make an attempt to postulate the theory of perception for gray-level images. The gray-level images, when going through the cognitive and perception processes, are contaminated by the uncertainty; here we call it cognitive uncertainty.The studies in this paper are confined to the phenomenon of edge-perception for two-dimensional gray-level images, however, these studies can be extended to other types of visual attributes both in two-dimensional and three-dimensional spaces. Indeed, the perception of these attributes, which attempts to emulate the human vision system, may help in the design of a truly robust computer vision-feedback control system for robotic applications.     

激光焊接对接拼缝测量的微景深方法

对于复杂微细、错边量小的激光焊接拼缝测量,现有的视觉传感器方法不能稳定、可靠地提取出拼缝的中心位置、拼缝宽度等信息。为此,提出了基于微景深的激光焊接对接拼缝测量方法,该方法采用高倍光学放大镜头、工业CCD(Charge Coupled Device)/CMOS(Complementary Metal-Oxide-Semiconductor Transistor)相机和LED(Light-Emitting Diode)外部照明装置,以光学成像光轴与被测表面法矢呈45°的方式,组成的对接拼缝的非接触测量系统,既解决了显微放大时景深很小、测量范围小的问题,又解决了狭窄拼缝高光学放大倍数拼缝检测的难题。实验结果表明,该系统可快速准确地提取出拼缝中心坐标、拼缝宽度以及拼缝局部表面法矢。拼缝宽度测量精度优于5 μm,拼缝中心测量精度优于6 μm,可识别的最小拼缝宽度为0.02 mm,完全满足激光焊接对接狭窄拼缝的检测与自动跟踪的要求。     

基于机器视觉的加工刀具磨损监测方法

为了对加工过程中刀具的磨损状态进行监测,针对麻花钻的磨损形式,提出基于机器视觉的加工刀具磨损监测方法. 根据磨损刀具图像的灰度分布特点,提出基于积分图加速和Turky bi-weight核函数的非局部均值去噪方法;采用单、双阈值大津法获取磨损区域的灰度区间,实现对图像的自适应对比度增强;提出基于形态学重构方法的磨损区域局部极值点提取方法,有效完成对磨损区域的检测和边界提取. 该刀具磨损检测方法成功应用于麻花钻头磨损状态的监测过程,实验结果表明,相较于目前已有的机器视觉监测方法,所提出的方法具有更高的检测精度和效率,准确地提取磨损轮廓,从而有效实现对刀具磨损状态的监测和自动化监控加工过程,达到降低人工成本和产品不合格率的目的.     

一种新的知觉分割模型*

根据知觉的最新理论研究和实验结果,提出一种新的知觉模型,并用于考查计算机视觉中的分割问题.分割问题实质上是知觉表达问题,现在分割的困难性可能是知觉上局部到整体的还原论假设造成的;分割可能不是一次完成的,而是经过整体到局部的过程才最终完成.新的知觉模型将对建立更好的分割模型提供理论基础.     

线激光--机器视觉测量系统中的多传感器融合技术研究

针对逆向工程中直接从线激光扫描的数据云图中提取物体边界不仅繁琐而且精度也不好保证，为此提出建立线激光—机器视觉测量系统，先利用三日视觉获得物体初始边界，然后利用曲线延拓的方法并考虑影响延拓误差的因素，从而在满足一定精度要求的前提下实现不同传感器信息的融合。     

A machine vision approach to seam tracking in real-time in PAW of large-diameter stainless steel tube

Manual monitoring and seam tracking through watching weld pool images in real-time, by naked eyes or by industrial TV, are experience-depended, subjective, labor intensive, and sometimes biased. So it is necessary to realize the automation of computer-aided seam tracking. A PAW (plasma arc welding) seam tracking system was developed, which senses the molten pool and the seam in one frame by a vision sensor, and then detects the seam deviation to adjust the work piece motion adaptively to the seam position sensed by vision sensor. A novel molten pool area image-processing algorithm based on machine vision was proposed. The algorithm processes each image at the speed of 20 frames/second in real-time to extract three feature variables to get the seam deviation. It is proved experimentally that the algorithm is very fast and effective. Issues related to the algorithm are also discussed.     

Host odor and visual stimulus interaction during intratree host finding behavior ofRhagoletis pomonella flies

Responses ofRhagoletis pomonella (Walsh) (Diptera: Tephritidae) flies to host fruit visual stimuli (apples or models of apples) and chemical stimuli (synthetic apple volatile blend) were studied in semidwarf field-caged apple trees. Three different fruit or model densities (1, 4, or 16 fruit or models/ tree) and two odor release rates [ca. 0.7g/hr (close to the natural release rate of a ripe apple) and ca. 500g/hr (amount of odor released by commercially sold apple maggot traps)] were tested. Individually released flies were followed as they moved within a tree for a maximum of 20 min. We recorded three-dimensional search paths followed by foraging flies and computed such variables as total relative distance traveled before alighting on a fruit or model, track length between individual alightment sites, and directness of flight to fruits or models. Effect of odor on propensity to alight on fruit or models and host-searching behavior prior to alighting on fruit or on models varied according to fruit or model color and density. If the fruit visual stimulus was strong (e.g., red color), odor did not increase the probability of finding fruit or fruit models. As the visual stimulus became progressively weaker (red to green to clear), odor (irrespective of concentration) appeared to aid flies during the fruit-finding process. As density of fruit or models increased, the probability of flies finding a fruit or model also increased (e.g., 50% of flies found a red fruit model at 1 model/tree while 90% found a red model at 16 models/tree; 4% of flies found a clear model with odor at 1 model/tree while 35% found a clear model with odor at 16 models/tree). Findings reported elsewhere indicate thatR. pomonella flies are able to discover a point source of odor (an odor-bearing tree in a patch of trees) by flying upwind (in the tree patch) in response to intermittent exposure to odor. Findings here indicate that after arrival on a host tree (point source), flies discover individual apparent and abundant host fruit on the basis of vision. If fruit are less apparent or scarce, odor appears to interact with vision during the fruit-finding process.     

基于HEIV模型的摄像机一维标定

多摄像机系统广泛应用于文化创意产业,其高精度标定是迫切需要解决的一个关键问题. 新近出现的摄像机一维标定方法能够克服标定物自身遮挡,特别适合标定多摄像机系统. 然而,现有的摄像机一维标定研究主要集中在降低一维标定物的运动约束,而标定精度较低的问题未受到应有的关注. 本文提出一种基于变量含异质噪声 （Heteroscedastic error-in-variables,HEIV）模型的高精度摄像机一维标定方法. 首先,推导出摄像机一维标定的计算模型;其次,利用该计算模型详细分析了一维标定中的噪声,得出摄像机一维标定可以视为一个HEIV问题的结论;最后给出了基于HEIV模型的摄像机一维标定算法. 与现有的算法相比,该方法可以显著改善一维标定的精度,并且受初始值影响小,收敛速度快. 实验结果验证了该方法的正确性和可行性.     

An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facilitate controller design. An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper. External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller. To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures. The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators.