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By Binocular Vision way, this paper aimed to research welding image process of weld seam based on crawling robot. It built a developed suitable tracking control policy and software flatform. Some filters have been studied, such as mean filter, median filter, homomorphic filter. A cascade algorithm composed by medium value filter and homomorphic filter was used to welding image de-noising, which had been proved effective. Besides, an adaptive threshold arithmetic for segmented image was put forward, which had a good robustness, namely cascade OTSU(Maximum Classes Square Error). Al-alloy butter plate welding experiment proved that welding torch could track seam well.