Abstract: In order to process the grinding and polishing welded seam, a visual system was built on a minitype grinding and polishing robot based on the charge coupled device and structured light. The algorithm improvements were introduced to the image preprocessing technology, such as the image enhancement and single pixel treatment of binarization.The linear interpolation algorithm with the distance as weight was used for image correction to actively identify and reduce the target area, decrease the processed date amount effectively. To highlight the image target, the grey distribution maximization algorithm was introduced. The binarization and light-center extraction were integrated to speed the computation. The experiment results showed that the built system is stable, reliable with high precision and speed, and the proposed preprocessing technique and algorithms are effective.

Key words: mechanical manufacture process and equipment, grinding and polishing welded seam, binocular vision, image preprocessing, structured light