设计与实现了一套激光视觉引导的焊缝自动跟踪系统，包括系统的整体硬件构成和关键算法。在工业机器人末端安装激光视觉传感器构成焊缝跟踪系统的硬件部分。采用小波变换滤除焊缝图像噪声，采用改进的Steger算法和Hough变换方法提取激光条纹中心直线，进一步提取出焊缝位置。提出一种双队列控制策略，在采集的焊缝特征点的基础上进一步插值，从而实现激光视觉引导的焊缝自动与平滑跟踪。实验结果表明，该系统具有较好的跟踪精度，能满足工业实际需求。

It designs and realizes a set of laser vision guided automatic seam tracking system, including overall system structure and key algorithms. A laser vision sensor is installed at the end of an industrial robot. Wavelet transform is used to filter image noise and improved Steger algorithm and Hough transform method are applied to extract the laser stripe center line. Then the position of welding seam is located. A strategy of dual queues is put forward to control the move-ment of the manipulator, and a series of intermediate points among welding points are obtained by interpolation, so as to realize the automatic and smooth tracking of weld laser visual guide. The experimental results show the system has good tracking accuracy and can meet the industrial requirement.

针对白车身视觉检测系统中传感器数量多、种类各异、分布空间大、位置关系复杂等问题，提出了一种适用于工业现场的多视觉传感器全局校准技术。基于坐标系间接统一法，设计多个精密立体靶标作为坐标系转换中介，利用激光跟踪仪获取现场校准数据，在单位四元数数学模型的基础上，求解两坐标系间最优转换矩阵，将固定式传感器和柔性传感器的测量坐标系统一到全局坐标系。该方法已在某企业在线测量项目中成功应用，现场只需完成传感器坐标系与全局坐标系转换关系标定，降低了复杂现场环境对多传感器全局校准的限制，简化了校准过程，提高了环境适应性，校准后检测系统各向测量精度均优于±0.2 mm，满足白车身在线测量精度要求。

A novel global calibration method for the multi-sensor vision measurement system in industrial field is proposed to solve the problem of multiple sensors of different types,large distribution space and complicated position relations in the car body-in-white vision measurement system. Based on the indirect coordinates transformation,two precise 3D targets are designed as the intermediary in coordinates transformation,and field calibration data is acquired by a laser tracker. On the basis of the unit quaternion global calibration model,the optimized transformation parameters can be established in order to unify the stationary sensor coordinates and flexible sensors coordinates to the global coordinate system. The method has been applied in the inline measurement station of a company successfully. Only the calibration of transformation relation between the sensor coordinates and the global coordinates is needed in the application filed. Therefore,the complex environmental restriction is r

三角法属于主动视觉测量方法，是非接触光学测量的一个重要形式。本文介绍了激光三角法测距的基本原理，对比不同类型的激光三角测量系统，并比较了其优缺点。利用三角法测量原理，通过线阵CCD、电子信号分析电路和单片机信号处理，设计并实现了一种高分辨率测距传感器，并对不同条件下的测试结果进行了分析，同时提出了改进方案。

Triangulation measurement is an initiative visual method, which is an important means of non-contact optical measurement. This paper introduces the basic principles of the laser triangulation measurement, compares laser triangulation systems with different sorts and gives the advantages and disadvantages. Based on the principles of the triangulation measurement, it designs and implements a distance measurement sensor with high resolution by linear array CCD, electronic signal analysis circuit and SCM signal processing. Through analyzing the test results in different conditions, it presents the improvement scheme.

为了在半圆周上准确进行激光刻蚀,以刻制热流传感器的半球形铂电阻,满足热流测点的精确定位,采用了一种基于视觉成像系统定位加工点的方法,进行了理论分析和实验验证,取得了铂电阻较高的定位数据。该方法首先通过背光照明使半球边缘轮廓清晰可见,通过提取边缘上的4个点坐标,计算并定位到半球顶点;旋转平台,补偿偏差值,实现精确定位加工点;最后对成型的半球形热流传感器电阻位置进行测量验证。结果表明,该方法具有良好的定位效果,刻蚀制作的球半径相对误差约为0.39%,载物平台旋转角度相对误差控制在3.9%,解决了定位半球顶点问题,提高了刻蚀精度。这一结果对于利用激光刻蚀机在曲面模型上刻蚀形成铂电阻是有帮助的。

In order to make laser etching on the semicircle accurately , engrave the hemispherical platinum resistance of heat flux sensor and meet the precise positioning of the heat flow measurement points , the method of positioning processing point based on the vision imaging system was used .After theoretical analysis and experimental verification , the positioning data of high platinum resistance was gotten .Firstly, the edge contour was illuminated by the backlight and was visible clearly.Then, after extracting four coordinates on the edges , the hemisphere vertex was calculated .After rotating the platform and compensating the deviation value , the precise processing position was found .Finally, the resistance position of the heat hemispherical sensor was measured and verified .The experimental results show that the method has good positioning effect, the relative error of sphere radius by corrosion is about 0.39%, the relative error of rotation angle of loading platform is controlled in

自动导航作为现代智能农业车辆的一个重要组成部分，有着广阔的发展前景。为此，综合分析了国内外接触式导航、电磁导航、机械导航、超声波导航、激光导航、GPS导航、视觉导航，以及多传感器融合技术研究进展及在农业车辆的应用现状，并分析了各种导航方式应用于果园机械中的可行性及存在的问题，提出了今后果园智能机械主要的导航方式以及果园导航机械设计研究过程中需要考虑的问题。

As an important part in the modern intelligent agricultural vehicles , automatic navigation has a broad develop-ment prospects .In this paper , developing present situation and merit and demerit of automatic navigation based on con -tact sensor , electromagnetism , machinery , ultrasonic , laser , GPS , machine vision and multi-sensor fusion technology both in China and abroad were narrated briefly .At the same time , the feasibility and the existing problems of applying au-tomatic navigation mentioned above to orchard machinery were further analyzed .In the last place , the main navigation mode used in the future orchard intelligent machinery and the key problems taken into account in the future design and study process were proposed .