熔池图像质心算法的焊缝位置测量模型  

Weld position measuring model based upon weld pool image centroid arithmetic

作　　者：高向东[1] 丁度坤[1] 宋要武[1] 赵传敏[1] 

机构地区：[1]广东工业大学机电工程学院,广州510006

出　　处：《焊接学报》2007年第3期1-4,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(60375012);广东省自然科学基金资助项目(020176;6021444)

摘　　要：建立了一种基于熔池图像质心的焊缝位置测量模型,通过视觉传感器获取焊接区熔池图像,选择熔池前端为处理区域,对该区域进行中值滤波与图像灰度变换,并计算该区域的熔池图像质心值及相对应的焊缝偏差。在不同的焊接条件下,获取多组熔池图像及对应的样本数据,应用最小二乘法建立熔池图像质心与焊缝偏差之间的关系,得到基于熔池图像质心的焊缝位置测量数学表达式。在此基础上,通过分析比较各数学表达式之间的关系,建立焊缝位置测量数学模型。计算机仿真及焊接工艺试验结果表明,该模型可有效地检测焊缝位置。A weld position measuring model based on the weld pool image centroid was studied.During the welding process the weld pool images were acquired by a vision sensor.The fore region of the weld pool was chosen as a processed image area which was processed by the median filter and image gray transformation.Also,the image centroid coordinates corresponding to this processed image area and the seam deviations between the torch and weld could be obtained.Several groups of the weld pool images and the experiment as data including the image centroids and seam deviations were collected in different welding conditions.Then the relationship between the weld pool centroids and the seam deviations was researched by using of the least square regression arithmetic,and the mathematical equations for calculating the weld position by the weld pool centroid were deduced.Finally,by analyzing these mathematical equations a common model was established for measuring the weld position based on the weld pool centroid.The computer simulation and real experiment results showed that the weld position could be effectively detected by this measuring model.

关 键 词：熔池图像质心 焊缝位置 测量模型 

分 类 号：TG402[金属学及工艺—焊接]