基于全卷积神经网络的焊缝识别方法  

Weld seam recognition method based on fully convolutional neural network

作　　者：段岳飞 马嵩华 胡天亮[1,2,3] DUAN Yuefei;MA Songhua;HU Tianliang(School of Mechanical Engineering,Shandong University,Jinan 250061,CHN;Key Laboratory of High Efficiency and Clean Machinery Manufacturing,Ministry of Education,Jinan 250061,CHN;National Experimental Teaching Demonstration Center of Mechanical Engineering,Jinan 250061,CHN)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]高效洁净机械制造教育部重点实验室,山东济南250061 [3]机械工程国家级实验教学示范中心,山东济南250061

出　　处：《制造技术与机床》2023年第4期44-49,共6页Manufacturing Technology & Machine Tool

摘　　要：在机器人自动化焊接中,精准高效的焊缝识别是实现高质量焊接的关键。针对现有视觉检测方法效率低、精度差的问题,提出了一种基于全卷积神经网络的焊缝识别方法。该方法首先采集数据对全卷积神经网络进行训练,得到最佳的网络参数;然后采用训练好的全卷积神经网络和最佳网络参数对焊缝图片进行语义分割,将焊缝所在区域与背景进行分离;然后对分割出的焊缝区域,进行骨架提取,得到接近单像素宽度的焊缝;之后根据自定义的直线度参数对焊缝形状进行判定,确定该焊缝是否为直线,用最小二乘法进行直线或曲线拟合,得到最终的焊缝轨迹。实验结果表明,所提方法能够快速准确地识别出焊缝位置和形状,可以作为自动焊接机器人轨迹自主规划和控制的技术基础。In robot automatic welding,accurate and efficient weld identification is the key to achieve high quality welding.Aiming at the problems of low efficiency and poor accuracy of the existing visual inspection methods,a welding seam recognition method based on full convolutional neural network was proposed.Firstly,the method collects data to train the full convolutional neural network and obtains the best network parameters.Then,the trained fully convolutional neural network and the best network parameters were used to semantically segment the weld images,and the weld area was separated from the background.Then,the skeleton of the segmented weld area was extracted to obtain the weld with a width close to a single pixel.Then,the shape of the weld is determined according to the self-defined straightness parameters to determine whether the weld is a straight line,and the least square method is used to carry out the line or curve fitting to get the final weld trajectory.The experimental results show that the proposed method can quickly and accurately identify the weld position and shape,which can be used as the technical basis for the automatic welding robot trajectory planning and control.

关 键 词：焊缝识别 语义分割 骨架提取 全卷积神经网络 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]