Abstract
This study deals with an automatic scraping machine, namely a bearing recognition mechanism of scraped surfaces and a specially designed scraping mechanism. Authors tried to make a recognition system of the bearing in the scraped surface, comprised of a CCD camera, lighting unit and data processing unit. A photoflood lamp was used as a lighting unit, because of its sufficient brightness and uniform distribution in front direction. That was enable to eliminate other optical disturbance, so it was enough to recognize bearings of workpiece surface. The good contrast images were detected by photographs of the workpiece surface. Computer software was used to eliminate the influence due to uneven lighting, by means of the "P-TYLE" thresholding method. As the result, the high accuracy scraped surface with 16 bearing spots/in2 in 140 mm × 140 mm was enable to be recognized. Then the spot that must be scraped was identified, using a transformation system from image to space position.
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