CN104568970B - Underwater weld automatic recognition system - Google Patents
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- CN104568970B CN104568970B CN201510036893.XA CN201510036893A CN104568970B CN 104568970 B CN104568970 B CN 104568970B CN 201510036893 A CN201510036893 A CN 201510036893A CN 104568970 B CN104568970 B CN 104568970B
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- 238000003466 welding Methods 0.000 claims abstract description 78
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 61
- 238000012545 processing Methods 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 24
- 238000001914 filtration Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
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- 229910052736 halogen Inorganic materials 0.000 claims description 3
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- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052721 tungsten Inorganic materials 0.000 claims description 3
- 239000010937 tungsten Substances 0.000 claims description 3
- 125000005843 halogen group Chemical group 0.000 claims description 2
- 238000000034 method Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 3
- 238000003709 image segmentation Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- Studio Devices (AREA)
- Arc Welding In General (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of underwater weld automatic recognition system, including underwater light source, Underwater Camera, control device and Wireless Telecom Equipment, the underwater photograph technical that described underwater light source is used for as described Underwater Camera provides light source, described Underwater Camera is for shooting welding image when workpiece is soldered under water, described control device is connected with described Underwater Camera, for image procossing is executed to described welding image, to identify the workpiece weld seam in described welding image, described Wireless Telecom Equipment is located at waterborne, it is connected with described control device by submerged cable, it is wirelessly sent to computer waterborne with the described workpiece weld seam of reception and by described workpiece weld seam.By means of the invention it is possible to automatically detect welding gap under severe underwater environment, provide reliable reference data for the control that computer waterborne operates to Underwater Welding.
Description
Technical field
The present invention relates to Underwater Welding field, more particularly, to a kind of underwater weld automatic recognition system.
Background technology
Underwater Welding be Underwater Engineering Structure installation, maintenance construction in indispensable important process means.This work
Skill means are often used in the ocean engineerings such as marine salvage, marine energy, marine mining and the work progress of Large Underwater facility
In.
During welding under water, due to the particularity of underwater operation environment, construction party is generally using the disengaging water surface
Computer control system waterborne is controlled to underwater welding equipment, and for example, the position of welding equipment and welded part determines
Be mutually shifted, the welding determination in the gap and control of welding operation, such remote controlled manner facilitates operator not
Lower water is needed in person to operate, you can to complete whole Underwater Welding operating process.Wherein, the weld seam recognition of welded part is non-the normally off
Key, is related to degree of accuracy and the welding effect of welding.
In prior art, underwater weld identifying schemes enter to welded part whole image merely by Underwater Camera
Row shoots, by the upper computer control system of real-time Transmission feedwater, operation waterborne after the whole compressed encoding of workpiece image after shooting
Personnel pass through to watch workpiece image, by virtue of experience determine position while welding, manipulate welding equipment under water, carry out according to position while welding
Welding.But, there is following drawback in this recognition method：(1) because underwater environment is severe, the workpiece image that remote transmission comes
Often smudgy, the judgement of impact position while welding；(2) because workpiece image transmits without image procossing, transmission
Data volume bigger than normal, and valid data are less；(3) Underwater Camera, always in shooting state, wastes limited underwater power source.
Accordingly, it would be desirable to a kind of new technical scheme for the identification of Underwater Welding gap, Underwater Camera can be shot
Workpiece image be effectively treated, recognize the image related to welding gap, and only transmission with weld gap related
Image, meanwhile, it is capable to set up the power saving administrative mechanism of underwater camera equipment.
Content of the invention
In order to solve the above problems, the invention provides a kind of underwater weld automatic recognition system, transformation is existing under water
Weld seam recognition system, for severe underwater environment, quotes multiple corresponding image processing techniquess and automatically identifies and clearly weld
Connect slot image, the welding slot image only recognizing to transmission waterborne, and, introduce ultrasonic detection technology, ensure water
Lower picture pick-up device is only just starting underwater camera operation in the case of welding workpiece, thus improving the identification of welding gap
Intelligent level while, save electric power under water in short supply.
According to an aspect of the present invention, there is provided a kind of underwater weld automatic recognition system, described identifying system includes water
Lower light source, Underwater Camera, control device and Wireless Telecom Equipment, described underwater light source is used for the water for described Underwater Camera
Lower shooting provides light source, and described Underwater Camera is for shooting welding image when workpiece is soldered under water, described control device
It is connected with described Underwater Camera, for image procossing is executed to described welding image, to identify in described welding image
Workpiece weld seam, described Wireless Telecom Equipment, positioned at waterborne, is connected with described control device by submerged cable, to receive described work
Described workpiece weld seam is simultaneously wirelessly sent to computer waterborne by part weld seam.
More specifically, in described underwater weld automatic recognition system, also including：Fixed transverse rod, is erected in water, is used for
Ultrasonic distance detecting devices, underwater light source and Underwater Camera are fixed on same vertical, described fixed transverse rod is just right
Described workpiece under water is placed；Driving equipment, is connected with described fixed transverse rod, for driving described fixed transverse rod to described work under water
Part moves；Static storage device, is used for prestoring ultrasonic underwater transfer rate, relative distance threshold value and percentage threshold；
Ultrasonic distance detecting devices, just to described workpiece under water place, including RS-232 serial communication interface, ultrasonic transmitter,
Ultrasonic receiver and microcontroller, described ultrasonic transmitter is used for launching ultrasonic signal to described workpiece under water, described
Ultrasonic receiver be used for receiving described in workpiece fires back under water ultrasonic signal, described microcontroller and described ultrasound wave
Emitter, described ultrasonic receiver and described static storage device connect respectively, super according to the transmitting of described ultrasonic transmitter
Time difference between acoustic signals and described ultrasonic receiver received ultrasonic signal and described ultrasonic underwater transmission speed
Rate calculate described under water workpiece apart from the relative distance of described ultrasonic distance detecting devices, and described relative distance be less than etc.
Send startup and shoot signal when described relative distance threshold value, described RS-232 serial communication interface is with described microcontroller even
Connect, sent with serial communication mode for described relative distance and described startup are shot signal；Described underwater light source is
Halogen tungsten lamp light source, is connected with described ultrasonic distance detecting devices, when receiving described startup shooting signal, starts to described
The floor light of workpiece under water；Described Underwater Camera is high-definition camera, is connected with described ultrasonic distance detecting devices, when
When receiving described startup shooting signal, start the shooting of the welding image to described workpiece under water, described high-definition camera
Resolution is 1280 × 720；Described control device includes single-chip microcomputer and four pieces of fpga chips；Described four pieces of fpga chips are used respectively
In realizing wavelet filtering unit, gray processing processing unit, threshold value determination unit and image segmentation unit, described wavelet filtering unit
It is connected with described Underwater Camera, execute wavelet filtering for Harr wavelet filter is based on to described welding image, obtain filter
Ripple image, described gray processing processing unit is connected with described wavelet filtering unit, for executing gray processing to described filtering image
Process, obtain gray level image, described threshold value determination unit is connected with described gray processing processing unit, select between 0-255 one by one
Each gray value as candidate's gray value threshold value, using candidate's gray value threshold value, described gray level image is divided into target ash
Degree image and background gray level image, and count the grey scale pixel value between described target gray image and described background gray level image
Variance, takes the maximum candidate's gray value threshold value of described grey scale pixel value variance as target gray value threshold value, described image is split
Unit is connected with described threshold value determination unit and described gray processing processing unit, based on described target gray value threshold value by described ash
Degree image is divided into target gray image and background gray level image, the target gray that will be arrived based on described target gray value Threshold segmentation
Image exports as the workpiece weld seam in described welding image；Described single-chip microcomputer and described ultrasonic distance detecting devices, described
Image segmentation unit and described Underwater Camera connect respectively, to described welding image execute Moving Picture Experts Group-2 compression of images with
Generate compression welding image, and described relative distance, described workpiece weld seam and described compression welding image are transmitted to described nothing
Line communication equipment；Described Wireless Telecom Equipment is connected respectively with described driving equipment and described single-chip microcomputer, wireless receiving meter waterborne
The drive control signal that calculation machine sends, and described drive control signal is transmitted to described driving equipment, to control described fixation
Described relative distance, described workpiece weld seam and described compression welding image are also wirelessly sent to institute by position in water for the cross bar
State computer waterborne；Wherein, described single-chip microcomputer is also connected respectively with described threshold value determination unit and described static storage device, with
When own resource occupancy is below percentage threshold, replace all operationss executing described threshold value determination unit, at itself
When resources occupation rate is more than percentage threshold, terminate the replacement of all operationss to described threshold value determination unit.
More specifically, in described underwater weld automatic recognition system, described microcontroller is more than in described relative distance
Send end during described relative distance threshold value and shoot signal.
More specifically, in described underwater weld automatic recognition system, described underwater light source ought receive described end and clap
When taking the photograph signal, stop the floor light to described workpiece under water.
More specifically, in described underwater weld automatic recognition system, described Underwater Camera ought receive described end
When shooting signal, stop the shooting of the welding image to described workpiece under water.
More specifically, in described underwater weld automatic recognition system, by described control device, described static storage device
It is integrated on one piece of surface-mounted integrated circuit with described driving equipment, and described surface-mounted integrated circuit is enclosed in waterproof case.
More specifically, in described underwater weld automatic recognition system, described underwater light source, described Underwater Camera and institute
State ultrasonic distance detecting devices and be respectively provided with waterproof case.
Brief description
Below with reference to accompanying drawing, embodiment of the present invention is described, wherein：
Fig. 1 is the block diagram of the underwater weld automatic recognition system according to embodiment of the present invention.
Fig. 2 is the ultrasonic distance detecting devices of the underwater weld automatic recognition system according to embodiment of the present invention
Block diagram.
Specific embodiment
Below with reference to accompanying drawings the embodiment of the underwater weld automatic recognition system of the present invention is described in detail.
Day with land resources is becoming tight, and people start to put under water the eye of exploitation, and Underwater resources include ocean
Resource and inland river course resource, due to the abominable of underwater environment, are only improved the Maturity of underwater welding technology, could accelerate
Underwater resources development rate, thus obtain more economic benefits.
Traditional under-water welding is connected to dry method, wet method and three kinds of local dry cavity.Dry method welding is to cover weldering using large-scale air chamber
Part, welding operation personnel welded in air chamber, has the advantages that safety is good, but limitation is very big, and application is not universal.
Wet method welding is that welding operation personnel directly weld under water, rather than artificially arranges the water around weld zone, this side
Formula application is more, but safety is not high.Local dry cavity welding is welding operation personnel welding in water, but artificially by weld zone
The water of surrounding arranges, and this method is not using universal.
Current application is more and more to be placed in water welding equipment and welding workpiece, and welding operation personnel are remote on the water
Weld seam found by journey manipulation welding equipment, executes welding operation, this mode overcomes the shortcoming of above-mentioned three kinds of underwater welding methods,
But due to being remotely control, the identification accuracy of weld seam is particularly critical.
The underwater weld automatic recognition system of the present invention, is automatically identified clearly by high-precision image-recognizing method
Weld image, and send computer system waterborne to for operator's remote operation effective foundation of offer, in addition, passing through ultrasound wave
Detection technique determines the distance of Underwater Camera and workpiece, starts Underwater Camera in distance in the position when side of relative close
Operation, while ensureing that the image shooting has reference significance, reduces the need for electricity of Underwater Camera.
Fig. 1 is the block diagram of the underwater weld automatic recognition system according to embodiment of the present invention, described knowledge
Other system includes：Underwater light source 1, Underwater Camera 2, control device 3, Wireless Telecom Equipment 4 and power supply equipment 5, described
Control device 3 and described underwater light source 1, described Underwater Camera 2, described Wireless Telecom Equipment 4 and described power supply equipment 5
Connect respectively.
Wherein, the underwater photograph technical that described underwater light source 1 is used for as described Underwater Camera 2 provides light source, described takes the photograph under water
For shooting welding image when workpiece is soldered under water, described control device 3 is used for executing figure to described welding image camera 2
As processing, to identify the workpiece weld seam in described welding image, described Wireless Telecom Equipment 4 is located at waterborne, by electricity under water
Cable is connected with described control device 3, to receive described workpiece weld seam and described workpiece weld seam be wirelessly sent to computer waterborne,
Described power supply equipment 5 provides electric power to supply for described underwater weld automatic recognition system under the control of described control device 3
Should.
Then, continue the concrete structure of the underwater weld automatic recognition system of the present invention is further detailed.
Described identifying system also includes：Fixed transverse rod, is erected in water, for by ultrasonic distance detecting devices, under water
Light source 1 and Underwater Camera 2 are fixed on same vertical, and described fixed transverse rod is just placed to described workpiece under water.
Described identifying system also includes：Driving equipment, is connected with described fixed transverse rod, for drive described fixed transverse rod to
Described workpiece under water moves.
Described identifying system also includes：Static storage device, be used for prestoring ultrasonic underwater transfer rate, relatively away from
From threshold value and percentage threshold.
As shown in Fig. 2 described identifying system also includes：Ultrasonic distance detecting devices, just places to described workpiece under water,
Including RS-232 serial communication interface 7, ultrasonic transmitter 8, ultrasonic receiver 9 and microcontroller 6, described ultrasonic emitting
Device 8 is used for launching ultrasonic signal to described workpiece under water, described ultrasonic receiver 9 be used for receiving described in workpiece transmitting under water
The ultrasonic signal returned, described microcontroller 6 and described ultrasonic transmitter 8, described ultrasonic receiver 9 and described static state
Storage device connects respectively, launches ultrasonic signal according to described ultrasonic transmitter 8 and described ultrasonic receiver 9 receives and surpasses
Time difference between acoustic signals and described ultrasonic underwater transfer rate calculate described under water workpiece apart from described ultrasound wave
The relative distance of object detecting apparatus, and startup shooting is sent when described relative distance is less than or equal to described relative distance threshold value
Signal, described RS-232 serial communication interface 7 is connected with described microcontroller 6, for by described relative distance and described startup
Shoot signal to send with serial communication mode.
Described underwater light source 1 is halogen tungsten lamp light source, is connected with described ultrasonic distance detecting devices, opens described in receive
During dynamic shooting signal, start the floor light to described workpiece under water.
Described Underwater Camera 2 is high-definition camera, is connected with described ultrasonic distance detecting devices, described when receiving
When starting shooting signal, start the shooting of the welding image to described workpiece under water, the resolution of described high-definition camera is
1280×720.
Described control device 3 includes single-chip microcomputer and four pieces of fpga chips；Described four pieces of fpga chips are respectively used to realize little
Ripple filter unit, gray processing processing unit, threshold value determination unit and image segmentation unit, described wavelet filtering unit and described water
Lower video camera 2 connects, and executes wavelet filtering for being based on Harr wavelet filter to described welding image, obtains filtering image,
Described gray processing processing unit is connected with described wavelet filtering unit, for processing to described filtering image execution gray processing, obtains
Obtain gray level image.
Described threshold value determination unit is connected with described gray processing processing unit, selects each ash between 0-255 one by one
Described gray level image, as candidate's gray value threshold value, is divided into target gray image and the back of the body using candidate's gray value threshold value by angle value
Scape gray level image, and count the grey scale pixel value variance between described target gray image and described background gray level image, take institute
State the maximum candidate's gray value threshold value of grey scale pixel value variance as target gray value threshold value, described image cutting unit with described
Threshold value determination unit and described gray processing processing unit connect, and are divided into described gray level image based on described target gray value threshold value
Target gray image and background gray level image, using the target gray image being arrived based on described target gray value Threshold segmentation as institute
State the workpiece weld seam output in welding image.
Described single-chip microcomputer and described ultrasonic distance detecting devices, described image cutting unit and described Underwater Camera 2
Connect respectively, described welding image is executed with the compression of images of Moving Picture Experts Group-2 to generate compression welding image, and by described phase
Adjust the distance, described workpiece weld seam and described compression welding image are transmitted to described Wireless Telecom Equipment 4.
Described Wireless Telecom Equipment 4 is connected respectively with described driving equipment and described single-chip microcomputer, wireless receiving calculating waterborne
The drive control signal that machine sends, and described drive control signal is transmitted to described driving equipment, described fixing horizontal to control
Described relative distance, described workpiece weld seam and described compression welding image are also wirelessly sent to described by position in water for the bar
Computer waterborne.
Wherein, described single-chip microcomputer is also connected respectively with described threshold value determination unit and described static storage device, with certainly
When body resources occupation rate is below percentage threshold, replace all operationss executing described threshold value determination unit, in own resource
When occupancy is more than percentage threshold, terminate the replacement of all operationss to described threshold value determination unit.
Wherein, in described identifying system, described microcontroller 6 can also described relative distance be more than described relatively away from
From threshold value when send end shoot signal, described underwater light source 1 when receive described terminate shoot signal when, can stop to institute
State the floor light of workpiece under water, described Underwater Camera 2, when receiving described end shooting signal, can stop to described
The shooting of the welding image of workpiece under water, and described control device 3, described static storage device and described driving can be set
Standby be integrated on one piece of surface-mounted integrated circuit, and described surface-mounted integrated circuit is enclosed in waterproof case, described underwater light source 1, institute
State Underwater Camera 2 and described ultrasonic distance detecting devices is respectively provided with waterproof case.
In addition, small echo, that is, Wavelet is it is simply that zonule, limited length, average are 0 waveform.So-called " little " refers to it
There is Decay Rate；And be referred to as " ripple " and then refer to its undulatory property, the concussion form of its amplitude alternate positive and negative.Become with Fourier
Commutation ratio, wavelet transformation is the localization analysis of time (space) frequency, he by flexible shift operations to signal (function) by
Step carries out multi-scale refinement, is finally reached high frequency treatment time subdivision, frequency subdivision at low frequency, can automatically adapt to time frequency signal analysis
Requirement, thus any details of signal can be focused on, solve Fourier conversion difficult problem, can be wavelet transformation
Referred to as " school microscop ", wherein wavelet filtering is one of important application of wavelet transformation.
In addition, serial communication interface standard, through using and developing, has had several at present, but has been all in rs-232 standard
On the basis of through improvement and formed.RS-232C standard is U.S. EIA (Electronic Industries Association) together with the companies such as BELL
The communication protocol of announcement in 1969 of exploitation.He is suitable for communication in the range of 0～20000b/s for the message transmission rate.This
The relevant issues to serial communication interface for the standard, such as holding wire function, electrical characteristic all make explicit provisions.Due to communication equipment
Manufacturer all produces the communication equipment with RS-232C multiple display modes compatible, and therefore, he, as a kind of standard, connects in microcomputer communication at present
Widely used in mouthful.
RS-232-C is that EIA EIA (Electronic Industry Association) formulates
A kind of serial physical interface standards.RS is the abbreviation of English " proposed standard ", and 232 is identification number, and C represents modification number of times.RS-
232-C bus standard is provided with 25 signal line, including a main channel and an accessory channel.Mainly use as a rule
Main channel, for general duplex communication it is only necessary to a few signal line achieves that, such as one sends line, a reception line and one
Ground wire.
The message transmission rate that RS-232-C standard specifies be 50,75,100,150,300,600,1200,2400,4800,
9600th, 19200,38400 baud.RS-232-C standard specifies, driver allows the capacitive load of 2500pF, and communication distance will
Limited by this electric capacity, for example, using 150pF/m communication cable when, maximum communication distance be 15m；If the electric capacity of every meter of cable
Amount reduces, and communication distance can increase.The short another reason of transmission range is that RS-232 belongs to single-ended signal transmission, exists and makes an uproar altogether
Sound and the problems such as be unable to suppression common mode and disturb, is therefore generally used for the communication within 20m.
Using the underwater weld automatic recognition system of the present invention, not high for existing underwater weld recognition mode accuracy of identification
Lead to the technical problem of welding effect difference, on the one hand, by image procossing mode is introduced to welding image, especially introduce for scheming
As the threshold value selection mechanism of background segment, improve the accuracy of welding gap identification, on the other hand, introduce ultrasonic distance detection
Mechanism just starts shooting operation to guarantee Underwater Camera only in closer distance, effective in the welding image ensureing shooting
Property while, also improve as image recognition basis welding image definition.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment being not used to
Limit the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit,
The technology contents that the disclosure above all can be utilized are made many possible variations and modification, or are revised as to technical solution of the present invention
Equivalent embodiments with change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, all still fall within the scope of technical solution of the present invention protection
Interior.
Claims (1)
1. a kind of underwater weld automatic recognition system is it is characterised in that described identifying system includes underwater light source, underwater camera
Machine, control device and Wireless Telecom Equipment, the underwater photograph technical that described underwater light source is used for as described Underwater Camera provides light source,
Described Underwater Camera is for shooting welding image when workpiece is soldered under water, described control device and described Underwater Camera
Connect, for image procossing is executed to described welding image, to identify the workpiece weld seam in described welding image, described wireless
Communication equipment is located at waterborne, is connected with described control device by submerged cable, to receive described workpiece weld seam and by described work
Part weld seam is wirelessly sent to computer waterborne；
Described identifying system also includes：
Fixed transverse rod, is erected in water, same for being fixed on ultrasonic distance detecting devices, underwater light source and Underwater Camera
On one vertical, described fixed transverse rod is just placed to described workpiece under water；
Driving equipment, is connected with described fixed transverse rod, for driving described fixed transverse rod to move to described workpiece under water；
Static storage device, is used for prestoring ultrasonic underwater transfer rate, relative distance threshold value and percentage threshold；
Ultrasonic distance detecting devices, just places to described workpiece under water, including RS-232 serial communication interface, ultrasonic emitting
Device, ultrasonic receiver and microcontroller, described ultrasonic transmitter is used for launching ultrasonic signal, institute to described workpiece under water
State ultrasonic receiver for the ultrasonic signal that workpiece fires back under water described in receiving, described microcontroller is ultrasonic with described
Wave launcher, described ultrasonic receiver and described static storage device connect respectively, are launched according to described ultrasonic transmitter
Time difference between ultrasonic signal and described ultrasonic receiver received ultrasonic signal and the transmission of described ultrasonic underwater
Described in rate calculations, workpiece, apart from the relative distance of described ultrasonic distance detecting devices, and is less than in described relative distance under water
Send startup during equal to described relative distance threshold value and shoot signal, described RS-232 serial communication interface is with described microcontroller even
Connect, sent with serial communication mode for described relative distance and described startup are shot signal；
Described underwater light source is halogen tungsten lamp light source, is connected with described ultrasonic distance detecting devices, claps when receiving described startup
When taking the photograph signal, start the floor light to described workpiece under water；
Described Underwater Camera is high-definition camera, is connected with described ultrasonic distance detecting devices, when receiving described startup
When shooting signal, starting the shooting to the welding image of described workpiece under water, the resolution of described high-definition camera is 1280 ×
720；
Described control device includes single-chip microcomputer and four pieces of fpga chips；
Described four pieces of fpga chips are respectively used to realize wavelet filtering unit, gray processing processing unit, threshold value determination unit and figure
As cutting unit, described wavelet filtering unit is connected with described Underwater Camera, little for being based on Harr to described welding image
Wave filter executes wavelet filtering, obtains filtering image, and described gray processing processing unit is connected with described wavelet filtering unit, uses
In processing to described filtering image execution gray processing, obtain gray level image, described threshold value determination unit is processed with described gray processing
Unit connects, and selects each gray value between 0-255 one by one as candidate's gray value threshold value, using candidate's gray value threshold value
Described gray level image is divided into target gray image and background gray level image, and counts described target gray image and the described back of the body
Grey scale pixel value variance between scape gray level image, takes the maximum candidate's gray value threshold value of described grey scale pixel value variance as mesh
Mark gray value threshold value, described image cutting unit is connected with described threshold value determination unit and described gray processing processing unit, is based on
Described gray level image is divided into target gray image and background gray level image by described target gray value threshold value, will be based on described target
Gray value Threshold segmentation to target gray image as in described welding image workpiece weld seam export；
Described single-chip microcomputer is connected respectively with described ultrasonic distance detecting devices, described image cutting unit and described Underwater Camera
Connect, to described welding image execute Moving Picture Experts Group-2 compression of images to generate compression welding image, and by described relative distance,
Described workpiece weld seam and described compression welding image are transmitted to described Wireless Telecom Equipment；
Described Wireless Telecom Equipment is connected respectively with described driving equipment and described single-chip microcomputer, and wireless receiving computer waterborne sends
Drive control signal, and described drive control signal is transmitted to described driving equipment, to control described fixed transverse rod in water
In position, also described relative distance, described workpiece weld seam and described compression welding image are wirelessly sent to described meter waterborne
Calculation machine；
Wherein, described single-chip microcomputer is also connected respectively with described threshold value determination unit and described static storage device, with itself money
When source occupancy is below percentage threshold, replace all operationss executing described threshold value determination unit, take in own resource
When rate is more than percentage threshold, terminate the replacement of all operationss to described threshold value determination unit；
Described microcontroller sends end and shoots signal when described relative distance is more than described relative distance threshold value；
Described underwater light source, when receiving described end shooting signal, stops the floor light to described workpiece under water；
Described Underwater Camera, when receiving described end shooting signal, stops the bat of the welding image to described workpiece under water
Take the photograph；
Described control device, described static storage device and described driving equipment are integrated on one piece of surface-mounted integrated circuit, and will
Described surface-mounted integrated circuit is enclosed in waterproof case；
Described underwater light source, described Underwater Camera and described ultrasonic distance detecting devices are respectively provided with waterproof case.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510570023.0A CN105127626B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
| CN201510036893.XA CN104568970B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
| CN201510570491.8A CN105195929A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater welding seam recognition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510036893.XA CN104568970B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510570023.0A Division CN105127626B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
| CN201510570491.8A Division CN105195929A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater welding seam recognition system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104568970A CN104568970A (en) | 2015-04-29 |
| CN104568970B true CN104568970B (en) | 2017-03-08 |
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| CN201510036893.XA Expired - Fee Related CN104568970B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
| CN201510570023.0A Expired - Fee Related CN105127626B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
| CN201510570491.8A Pending CN105195929A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater welding seam recognition system |
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| CN201510570023.0A Expired - Fee Related CN105127626B (en) | 2015-01-24 | 2015-01-24 | Underwater weld automatic recognition system |
| CN201510570491.8A Pending CN105195929A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater welding seam recognition system |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104568970B (en) * | 2015-01-24 | 2017-03-08 | 烟台大有数据系统有限公司 | Underwater weld automatic recognition system |
| CN105081516B (en) * | 2015-08-04 | 2017-05-10 | 刘志伟 | Diver underwater welding system based on data communication |
| CN104999164B (en) * | 2015-08-04 | 2017-05-31 | 宁夏荣力特光电科技研发制造有限公司 | Underwater robot based on multiple filter treatment |
| CN104999200B (en) * | 2015-08-04 | 2016-08-24 | 青岛青知企业管理咨询有限公司 | Diver portable system |
| CN105665923A (en) * | 2015-08-04 | 2016-06-15 | 梁彦云 | Underwater welding platform based on laser image processing |
| CN108760745A (en) * | 2018-04-12 | 2018-11-06 | 上海建工集团股份有限公司 | Diaphram wall seam leakage inspector and method |
| CN114406359B (en) * | 2021-12-31 | 2024-04-09 | 沈阳德祥源自动化有限公司 | Automatic stop system and method for straight-slit circular pipe fitting |
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| CN103586565A (en) * | 2013-11-04 | 2014-02-19 | 哈尔滨工业大学（威海） | Underwater wet welding tracking system based on active vision |
| CN203599688U (en) * | 2013-11-05 | 2014-05-21 | 西安扩力机电科技有限公司 | Underwater welding wireless monitoring system |
| CN203599683U (en) * | 2013-11-05 | 2014-05-21 | 西安扩力机电科技有限公司 | Underwater welding monitoring system |
| CN204359703U (en) * | 2015-01-24 | 2015-05-27 | 无锡桑尼安科技有限公司 | Underwater weld automatic recognition system |
| CN105127626A (en) * | 2015-01-24 | 2015-12-09 | 无锡桑尼安科技有限公司 | Automatic recognition system for underwater weld joints |
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| JP3433228B2 (en) * | 2001-02-16 | 2003-08-04 | 独立行政法人産業技術総合研究所 | Underwater welding method and apparatus |
| CN102116997B (en) * | 2011-02-21 | 2013-03-20 | 中国石油大学(华东) | Underwater video camera system based on polarization identification and method thereof |
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2015
- 2015-01-24 CN CN201510036893.XA patent/CN104568970B/en not_active Expired - Fee Related
- 2015-01-24 CN CN201510570023.0A patent/CN105127626B/en not_active Expired - Fee Related
- 2015-01-24 CN CN201510570491.8A patent/CN105195929A/en active Pending
Patent Citations (8)
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| JP2002248566A (en) * | 2001-02-26 | 2002-09-03 | National Institute Of Advanced Industrial & Technology | Method and device for underwater welding |
| CN2872304Y (en) * | 2006-03-21 | 2007-02-21 | 上海港务工程公司 | Totally work-condition anode block welding camer inspector underwater |
| CN103586565A (en) * | 2013-11-04 | 2014-02-19 | 哈尔滨工业大学（威海） | Underwater wet welding tracking system based on active vision |
| CN203599688U (en) * | 2013-11-05 | 2014-05-21 | 西安扩力机电科技有限公司 | Underwater welding wireless monitoring system |
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| CN204359703U (en) * | 2015-01-24 | 2015-05-27 | 无锡桑尼安科技有限公司 | Underwater weld automatic recognition system |
| CN105127626A (en) * | 2015-01-24 | 2015-12-09 | 无锡桑尼安科技有限公司 | Automatic recognition system for underwater weld joints |
| CN105195929A (en) * | 2015-01-24 | 2015-12-30 | 无锡桑尼安科技有限公司 | Automatic underwater welding seam recognition system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105127626B (en) | 2016-08-24 |
| CN104568970A (en) | 2015-04-29 |
| CN105195929A (en) | 2015-12-30 |
| CN105127626A (en) | 2015-12-09 |
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