焊接机器人图像传感器噪声分析

焊接机器人获取焊缝的计算机视觉信息过程中,由于工件表面的反光系数,光学镜头性能的非线性,光电转换时叠加了随机噪声;信号电荷的存储、传输和输出存在暗电流等噪声;视频信号传输时存在噪声;视频信号模数转换存在量化噪声,导致获取的二维数字图像信号有一定的误差。为了减小此误差对后续的图像处理的影响,对图像传感器的图像噪声进行了分析,并得到了一个经验的图像噪声模型,实验结果表明:该模型有效且实用。

Analysis on noises of image sensor of welding robot

For the non-linearity of the reflectance of laser stripe on the work piece and performance of camera lens, the random noise added in the process of photoelectricity conversion, the storage, transmission and export of the electric charge of signal having the noises such as dark current, the video signal produced noises when transmitted, quantification noises hade by the A/D conversion of the video signal,definite error of the digital image signal will be resulted in the processes of acquiring the weld's information of the computer vision system of welding robot. In order to reduce the impact on the errors, the image noise of the image sensor is analyzed,and an experiential image noise model have been set up, the experimental results prove this model is effectual and applied.