关键词: 视觉定位, 结构光, 仿射变换, 图像处理

Abstract: According to the welding characteristic of container reinforced plate，an automation positioning method based on the structured light of the welding seam is developed.Two traits are included in the method：The camera is located on a right-angled framework and its optical axis is normal to the working plane，then depth information can be obtained by comparing the size of area，accordingly three-dimensional information extraction can be transformed into two-dimensional and space point can be transformed image point by affine transform.This system consists of two lasers and one camera.It will be much easier to process image because of the significant characteristic of laser light in welding environment when laser is used as an aide to help camera to locate much reliably.The particular implementation procedure is as follows：Transition emerged on the welding between the reinforced plate and the roof plate when two laser beans are projected to an angel of the reinforced plate.Four couple of image coordinates of transition points are attained by processing tripe effectively which are used to gain the reinforced plate’s welding initial characteristic point and orientation by fitting a straight line，finally the other characteristic points can be attained one by one referring to the image template which is made beforehand.This system takes advantage of the laser efficiently，resolves the automatic positioning problems on reinforced plate welding beam reliably.

Key words: vision positioning, structured light, affine transform, image processing