Snake模型和遗传算法在特殊焊缝提取中的应用
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摘要
针对CCD直接拍摄图像的弧焊机器人焊缝视觉检测问题,文中提出了一种精确提取带有较大的间断、尖锐的拐点、较多的干扰等特殊焊缝轨迹的算法.该算法先用小波变换进行焊缝边缘线的平滑,得到与最终焊缝距离很近的初始焊缝轨迹,再用基于Snake模型和遗传算法的进行特殊焊缝的精确匹配和提取.结果表明,该算法能进一步提高特殊焊缝轨迹识别的识别和检测精度,具有较强的适应性,也为弧焊机器人视觉检测的智能化的进一步提高提供一定的技术参考.
Aimed at the weld vision detection problem of arc welding robot in CCD directly photographed image,an algorithm for the extraction of special weld seam track with large discontinuity,sharp turning point and more interference was proposed.The algorithm firstly use wavelet transform to smooth the weld edge line to get the initial weld track that is very close to the final weld,and then use Snake model and genetic algorithm to get accurate matching and extraction of special welds.Experimental results demonstrate that the algorithm can improve the precision of special weld track recognition and detection,and has strong adaptability,and can also provide some technical reference for further improving the intelligent vision detection of arc welding robot.
Aimed at the weld vision detection problem of arc welding robot in CCD directly photographed image,an algorithm for the extraction of special weld seam track with large discontinuity,sharp turning point and more interference was proposed.The algorithm firstly use wavelet transform to smooth the weld edge line to get the initial weld track that is very close to the final weld,and then use Snake model and genetic algorithm to get accurate matching and extraction of special welds.Experimental results demonstrate that the algorithm can improve the precision of special weld track recognition and detection,and has strong adaptability,and can also provide some technical reference for further improving the intelligent vision detection of arc welding robot.
引文
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[14]徐富家,吕耀辉,刘玉欣,等.脉冲PAW快速成形焊缝尺寸的预测模型[J].焊接学报,2012,33(1):49-52.XüFujia,Lu Yaohui,Liu Yuxin,et al.Prediction model of bead geometry shaped by rapid prototyping based on pulsed PAW[J].Transactions of the China Welding Institution,2012,33(1):49-52.
[2]吴鑫,李强,焦京海,等.一种基于先验知识的弧焊机器人图像处理方法[J].焊接学报,2018,39(1):1-7.Wu Xin,Li Qiang,Jiao Jinghai,et al.An image processing method of welding robot based on prior knowledge[J].Transactions of the China Welding Institution,2018,39(1):1-7.
[3]黄军芬,蒋力培.基于二维小波分析的焊缝坡口边缘检测[J].焊接学报,2003,24(6):69-72.Huang Junfen,Jiang Lipei.The seam edge detection based on two dimentional wavelet analysis[J].Transactions of the China Welding Institution,2003,24(6):69-72.
[4]Kass M,Witkin A,Terzopoulous D.Snakes:active contour models[J].International Journal of Computer Vision,1988,1(4):321-331.
[5]文丽丽,罗红艳,张绍祥,等.数字人脑切片图像中小脑组织的连续分割[J].仪器仪表学报,2013,34(1):133-139.Wen Lili,Luo Hongyan,Zhang Shaoxiang,et al.Continous and automatic segmentation of cerebellum in slice images of digital human brain[J].Chinese Journal of Scientific Instrument,2013,34(1):133-139.
[6]祝世平,郭智超,高洁,等.基于Snake活动轮廓模型的视频跟踪分割方法[J].光电子·激光,2013,24(1):139-145.Zhu Shiping,Guo Zhichao,Gao jie,et al.A video object segmentation algorithm based on Snake models[J].Journal of Optoelectronics·Laser,2013,24(1):139-145.
[7]李静,李芳,朱伟,等.基于被动光的MAG管道打底焊焊缝边缘提取方法[J].焊接学报,2011,32(10):69-72.Li Jing,Li Fang,Zhu Wei,et al.A new seam location extraction method for pipe-line backing welding of MAG based on passive optical vision sensor[J].Transactions of the China Welding Institution,2011,32(10):69-72.
[8]周建平,许燕,操窘,等.基于BP神经网络和遗传算法的大功率脉冲电源优化设计[J].焊接学报,2016,37(4):9-13.Zhou Jianping,Xu Yan,Cao Jiong,et al.High power supply optimization design based on BP neural network and genetic algorithm[J].Transactions of the China Welding Institution,2016,37(4):9-13.
[9]邹丽,杨鑫华,孙屹博,等.基于RS_RBFNN的钛合金焊接接头疲劳寿命预测[J].焊接学报,2015,36(4):25-29.Zou Li,Yang Xinhua,Sun Yibo,et al.Prediction of fatigue life of titanium alloy welded joints based on RS_RBFNN[J].Transactions of the China Welding Institution,2015,36(4):25-29.
[10]刘立鹏,王伟,董培欣,等.基于遗传神经网络的焊接接头力学性能预测系统[J].焊接学报,2011,32(7):105-108.Liu Lipeng,Wang Wei,Dong Peixin,et al.Mechanical properties predication system for welded joints based on neural network optimized by genetic algorithm[J].Transactions of the China Welding Institution,2011,32(7):105-108.
[11]姚竞争,韩端锋,苗玉刚.基于焊接速度的遗传算法在装配中的应用[J].焊接学报,2011,32(6):89-92.Yao Jingzheng,Han Duanfeng,Miao Yugang.Application of genetic algorithm in assembling based on welding speed[J].Transactions of the China Welding Institution,2011,32(6):89-92.
[12]王正拓,冯振礼,叶国云,等.基于人工蜂群算法的双机器人路径规划分析[J].焊接学报,2015,36(2):97-100.Wang Zhengtuo,Feng Zhenli,Ye Guoyun,et al.Analysis of dualrobot path planning based on artificial bee colony algorithm[J].Transactions of the China Welding Institution,2015,36(2):97-100.
[13]张立栋,李亮玉,王天琪,等.双机器人松协调焊接过程无碰路径规划[J].焊接学报,2015,36(3):55-58.Zhang Lidong,Li Liangyu,Wang Tianqi,et al.Collision-free path planning of double robots welding process under loose coordination[J].Transactions of the China Welding Institution,2015,36(3):55-58.
[14]徐富家,吕耀辉,刘玉欣,等.脉冲PAW快速成形焊缝尺寸的预测模型[J].焊接学报,2012,33(1):49-52.XüFujia,Lu Yaohui,Liu Yuxin,et al.Prediction model of bead geometry shaped by rapid prototyping based on pulsed PAW[J].Transactions of the China Welding Institution,2012,33(1):49-52.