| 摘要 |
A method for recognizing a position of a welding member in a shipbuilding subassembly stage is provided to improve productivity by processing an image captured in the process of welding although the image has a plurality of members by using information about a position where the members are placed. An image processing unit receives a captured image(S1), and determines a proper threshold value(S3) according to the inputted image. The image processing unit changes the image into a binary image by using an auto thresholding scheme(S5), and pre-processes an image captured by a camera of a gentry by using a median filter(S7). The image processing unit performs blob labeling/filtering to cancel noise from the pre-processed image(S8), and detects edges by using a Sobel operator from the binary image(S9). The image processing unit performs hough transformation on the detected edges, and detects straight line components to make the edges hairlines(S11). The image processing unit detects a straight line through the hairlined edges(S13). The image processing unit calculates a distance value from the detected straight line blob center coordinates and determines an outline to measure the position of member vertex of two straight lines(S15). |
