改进的近邻聚类算法用于水下焊缝图像的识别  

An improved algorithm of close neighbor clustering was used on underwater weld recognition

作　　者：何银水[1] 胡兆吉[1] 胡宗梅 谢晓闻[1] 

机构地区：[1]南昌大学过程装备与测控工程系,江西南昌330031 [2]格特拉克(江西)传动系统有限公司,江西南昌330031

出　　处：《电焊机》2013年第5期89-92,共4页Electric Welding Machine

基　　金：江西省科技攻关资助项目(2007BG09100)

摘　　要：遍历经阈值处理后的焊缝图像,搜索第一个样本数据作为第一个聚类的初始元素。以欧氏距离作为阈值距离T,计算以后搜索到的样本与当前聚类最后一个元素的距离t。如果该距离t<T,则计算其与之前所有聚类的最短距离t',同时记下所在的类c。如果t'<T,则一方面合并当前聚类和聚类c;另一方面用最近邻法对该样本归类;如果t>T,则计算其与所有类的最短距离t'',同时记下所在的类c',如果t''<T,则把该样本归为c'类,否则就开新类。该算法对机器人水下焊接焊缝图像的数据进行分类,可以准确提取V形焊缝数据,有助于自动获取待焊位置的坐标。A seam image after has been thresholded was searched to find the first specimen data as the fiirst element in the first clustering. The Euclidean distance was looked as T,a kind of distance threshoht , the distance between the specimen searched in the seam image after the first one and the last element of tile current elustering was calculated as t. If the distance of t is smaller than T,then these distances were calculated between the specimen data and the all of＇ the clustering except the current one and the clustering was recorded of the shortest distance,it was signed as c, and the shortest distance was signed as t＇, and if t＇ is also smaller than T, lhen the current clustering and the clustering of c was combined, meanwhile, the specimen data was classified with the rule of nearest neighbor clustering ; On the nther hand, these distances were calculated between the current specimen data and all of the clustering that have existed if t is bigger than T, and the snmllest distance which was signed t″ whose ch,stering of c＇ was also recorded as well, and the current specimen was combined to ct＇ if t″ is smaller than T, otherwise, it will be belonged to another an new clustering. At last, the algorithm was used on weld images collected when robots welding underwater to classify these data, and these coordinates of V-shaped weld can be obtained accurately, which contributes to obtaining the coordinates of V-shaped weld automatically where the robot will weld.

关 键 词：近邻聚类 水下焊接 V形焊缝 焊缝识别 

分 类 号：TG456.5[金属学及工艺—焊接]