基于方向显著性的熔池背景下V形焊缝激光条纹的有效提取

Effective extraction of laser stripes for V-shaped groove from weld pool background based on orientation saliency

焊缝跟踪是机器人自动化焊接的核心技术,而厚板焊接中准确提取用于检测焊缝轮廓的激光条纹技术是实现自动跟踪的关键技术之一。根据同一帧焊缝图像中同时采集了熔池区域和激光条纹的特点,提出采用多区域多方向Gabor滤波的方法获取焊缝图像多方向特征图,然后采用基于局部区域灰度均值最大法消除背景干扰,最后利用连通域法消除因激光条纹轮廓检测缺口而产生的干扰。通过图像处理试验验证了算法的有效性,为厚板焊接的实时跟踪打下基础。

Seam tracking is one of key technologies in robotic automatic welding.To implement autonomous seam tracking,the key is to implement accurate extraction of laser stripes used to detect weld seam profiles in thick plate welding.According to the case where weld pools and laser stripes are simultaneously in the same frame,a method to effectively extract laser stripes was proposed based on the comprehensive orientation feature maps resulting from multi-region and multi-orientation Gabor filtering.Local-region average gray maximum method was used to remove interference,which is followed by connected domain methods to remove much small interference data.Experimental results show the effectiveness and it lays a good foundation for real-time seam tracking.