机器人化大直径钢管螺旋焊缝检测视觉跟踪系统的研究与开发

本文介绍了一种应用在螺焊管焊缝超声波无损探伤自动线上，跟踪运动焊缝横向偏移的视觉伺服系统。该系统以单ＣＰＵ运行的软件进行实时图象识别与系统控制。文中提出了一种在线建立特征模型的匹配识别策略，使系统能够很好地适应引起焊缝视觉特征变化的工作环境，条件的变化，准确识别不同特征的焊缝，同时具有较好的识别快速性。在实际检测线上，系统表现了良好的跟踪特性。

THE RESEARCH AND DEVELOPMENT OF ROBOTIZED VISUAL TRACKING SYSTEM FOR DETECTION OF SPIRAL SEAM IN LARGE DIAMETER STEEL PIPE

This paper introduces a visual-feedback-based moving seam tracking system which is appllied to the automatic line of ultrasonic detection of spiral-seam-pipe. The system processes real-time pattern recognition and system control by software running on a single CPU. In this paper.we propose a matching recognition stratrgy to establish feature model on-line and to process pattern recognition with this model.The sys-tem is adaptive to the seam feature changes that are caused by several reasons such as changes of steel pipes,work environments and conditions. It can recognize seams with certainty and rapidity.The system displays good tracking performance on real detection line.