Instruments and Systems: Monitoring, Control, and Diagnostics Annotation << Back Technical Vision System of a Robot for Control of Geometrical Parameters of Shells A.N. SHILIN, D.G. SNITSARUK The article presents the results of the development and implementation of a technical vision system applied in an industrial measuring and control robot designed to control the geometrical parameters of the shells. Shell rings are shells of revolution made by bending from sheet material on roll bending machines. Control of the geometric parameters of the shells is reduced to the registration of the profilogram of the contour of their cross section and its subsequent analysis. The article presents the basic image processing algorithms coming from the camera, namely, the center search algorithm and the detail profilogram registration algorithm, as well as the method for calculating the optical system, based on the camera parameters and control process parameters. The developed algorithms were tested both on raster images of the contour of the part, built manually on the coordinates, and on real images of the shell in the laboratory conditions. Comparison of the results of an experimental study of the algorithms with the results of direct measurement of the cross-sectional contour showed the correctness of the algorithms, while the relative error in the registration of the profilogram does not exceed 1 % of the nominal diameter of the enclosure that meets the requirements of GOST. Keywords: technical vision, control of geometrical parameters, telemetry, opto-electronic system, image processing algorithm, rotation shell. DOI: 10.25791/pribor.08.2019.825 Contacts: - Pp. 36-43.