基于边缘匹配的窄间隙焊缝初始位置识别
Initial Position Identification of Narrow Gap Welds Based on Edge Matching
- 2022年52卷第9期 页码:25-33
DOI: 10.7512/j.issn.1001-2303.2022.09.04
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蒙禹舟,魏昕,叶冬旭.基于边缘匹配的窄间隙焊缝初始位置识别[J].电焊机,2022,52(9):25-33.
MENG Yuzhou, WEI Xin, YE Dongxu.Initial Position Identification of Narrow Gap Welds Based onEdge Matching[J].Electric Welding Machine, 2022, 52(9): 25-33.
针对激光焊接对接窄间隙焊缝初始点定位的问题,提出了一种局部范围内基于边缘匹配的窄间隙焊缝初始位置识别方法,可实现在复杂光源环境下焊缝初始点的识别。本方法采用先图像模板技术锁定焊缝初始点的局部区域,后焊缝初始点识别的两步法完成对焊接前的初始点识别。首先选择焊缝图像边缘为匹配特征,提出采用基于Hough直线变换距离法去噪以解决在边缘检测中噪声产生的伪边缘问题,进而通过图像匹配技术可初步获取含有焊缝初始点区域;最后采用Harris角点检测算法联合亚像素级角点检测,并经焊缝初始点选取规则进行筛选可达亚像素级的焊缝初始点的精确定位。对比三种不同的环境光下的图像进行焊缝初始点的识别结果可以发现,文中所提出的初始点识别方法可对图像光照不均或光照不足条件下的焊缝初始点进行精确识别,具有一定的抗干扰能力,为下一步焊缝跟踪奠定了较为良好的基础。
Aiming at the problem of initial position of butt narrow gap weld, a local identification method based on edge matching for initial position of narrow gap weld was proposed in this paper. It can realize the recognition of initial weld points under complex light source environment. In this method, the image template technology is used to lock the local area of the initial weld point, and then the initial weld point recognition is completed before welding. Firstly, the weld image edges are selected as matching features, and a method based on Hough linear transform distance is proposed to remove noise to solve the problem of false edge caused by noise in edge dectetion. After image matching, the region containing the initial point of the weld can be obtained initially. Finally, Harris corner detection algorithm is combined with sub-pixel corner detection, and the selection rules are used to screen and accurately locate the sub-pixel initial point of the weld. Through the recognition of initial weld points in three different ambient light images, the comparison results show that the initial point recognition method proposed in this paper can accurately identify the initial weld points under the condition of uneven or insufficient illumination of the image, and has a certain anti-interference ability, laying a good foundation for the next step of weld tracking.
初始焊位图像匹配角点检测窄间隙焊缝精确识别
initial welding positionimage matchingcorner detectionnarrow gap weldprecise identification
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