水下焊缝自动跟踪路径的识别

An recognition algorithm on underwater welding seam tracking route

为满足水下焊缝自动跟踪的需要,设计了一个视觉系统。该系统采用卤钨灯作辅助光源照射焊接电弧前方一定距离处的待焊焊缝,配合复合滤光片进行滤光,能拍摄到较为清晰的焊缝图像。提出了一个基于边缘邻域平均值的算子,用于图像的边缘增强。运用改进的遗传算法计算图像类间方差,求出最佳阈值进行图像边缘分割,能较好地保留图像弱边缘,有效地减少计算时间。对分割后的焊缝图像,提出一种基于待焊焊缝宽度等特征的识别方法,能克服焊接弧光、飞溅、水流、气泡等干扰,识别水下待焊焊缝,准确地获取待焊焊缝中心线,为进一步实现水下焊接的自动化打下了基础。

In order to meet the need of tracking underwater seam, a vision system was designed. In this system, a halogen tungsten lamp is used to light the groove in the front of arc and compound filters are selected.As a result, the comparatively clear welding seam images can be captured with the system. Meanwhile, an operator is proposed based on neighbourhood average value of edge image, and an improved genetic algorithm is used to calculate maximization of interclass variance for images, and the best threshold segmentation was obtained. The algorithm not only preserves the weak edge of image, but also reduces the running time. For welding seam image after segmentation, an algorithm based on properties of welding seam width was proposed which has overcome the disturbance of arc,splash and can recognize the seam and obtain the welding seam centre line accurately. The research laid the foundation for the automation of underwater welding