基于FPGA的焊缝实时边缘增强算法  

FPGA-based real-time edge enhancement algorithm for weld seam is implemented

作　　者：刘吉凯 苏宇[1] 王沁[1] 张震 周德久 LIU Jikai;SU Yu;WANG Qin;ZHANG Zhen;ZHOU Dejiu(School of Mechanical and Electrical Engineering,Xi’an University of Technology,Xi’an 710021,CHN)

机构地区：[1]西安工业大学机电工程学院,陕西西安710021

出　　处：《制造技术与机床》2024年第12期140-147,共8页Manufacturing Technology & Machine Tool

基　　金：陕西省科技厅重点研发计划项目“面向大尺寸钢结构容器的移动式焊接机器人研发”(2024GX-YBXM-191);西安市科技计划项目“大型钢结构容器焊接机器人设计与关键技术研究”(23GXFW0028)。

摘　　要：针对焊缝图像处理中存在椒盐噪声处理效果差、实时性差、边缘丢失及强弱边缘连接不佳等问题,提出了一种基于现场可编程门阵列(field programmable gate array,FPGA)的改进边缘增强算法。首先,对采集到的视频流图像进行灰度转换,并利用自适应中值滤波进行降噪处理;其次,通过8方向Sobel算子提取图像梯度向量,利用自适应阈值提高边缘检测准确度;最后,通过形态学开操作增强边缘特征。试验结果表明,在100 MHz时钟下,针对一幅768×1024的焊缝图像处理采用FPGA仅需23.2016 ms,算法耗时降低到了毫秒级,改进后的算法能够有效去除椒盐噪声、滤除虚假边缘并保留真实边缘信息。In order to solve the problems of poor salt and pepper noise processing effect,poor real-time performance,edge loss and poor connection of strong and weak edges in weld image processing,an improved edge enhancement algorithm based on field programmable gate array(FPGA)is proposed.Firstly,the acquired video stream image is converted to gray level,and the adaptive median filter is used for noise reduction.Secondly,the image gradient vector is extracted by the 8-direction Sobel operator,and the adaptive threshold is used to improve the edge detection accuracy.Finally,the edge features are enhanced by morphological operation.The experimental results show that under the 100 MHz clock,it only takes 23.2016 ms to process a 768×1024 weld image using FPGA,and the algorithm time is reduced to the millisecond level.The improved algorithm can effectively remove salt and pepper noise,filter false edges and retain real edge information.

关 键 词：焊缝图像 自适应中值滤波 8方向Sobel算子 椒盐噪声 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TP751[自动化与计算机技术—计算机科学与技术]