CN104690455B - A kind of underwater weld automatic identifying method - Google Patents
A kind of underwater weld automatic identifying method Download PDFInfo
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- CN104690455B CN104690455B CN201510035530.4A CN201510035530A CN104690455B CN 104690455 B CN104690455 B CN 104690455B CN 201510035530 A CN201510035530 A CN 201510035530A CN 104690455 B CN104690455 B CN 104690455B
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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 to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/02—Preprocessing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/08—Feature extraction
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Abstract
The present invention relates to a kind of underwater weld automatic identifying method, the method comprises the following steps: 1) a kind of underwater weld automatic recognition system is provided, described identification system includes underwater light source, Underwater Camera, control equipment and Wireless Telecom Equipment, described underwater light source provides light source for the underwater photograph technical for described Underwater Camera, described Underwater Camera is for shooting welding image when workpiece is soldered under water, described control equipment is connected with described Underwater Camera, for described welding image is performed image procossing, to identify the workpiece weld seam in described welding image, described Wireless Telecom Equipment is positioned at waterborne, it is connected with described control equipment by submerged cable, to receive described workpiece weld seam and described workpiece weld seam be wirelessly sent to computer waterborne；And 2) use described system to identify.
Description
Technical field
The present invention relates to Underwater Welding field, particularly relate to a kind of underwater weld automatic identifying method.
Background technology
Underwater Welding be Underwater Engineering Structure installation, maintenance construction in indispensable important process hands
Section.This process means is often used in the ocean engineerings such as marine salvage, marine energy, marine mining
With in the work progress of Large Underwater facility.
Under water during welding, due to the particularity of underwater operation environment, construction party generally uses
Underwater welding equipment is controlled by the computer control system waterborne departing from the water surface, and such as, welding sets
Standby and welded part position determines and is mutually shifted, the determination in welding gap and welding operation
Controlling, such remote controlled manner facilitates operator to need not lower water in person to operate, can complete
Whole Underwater Welding operating process.Wherein, the weld seam recognition of welded part is the most crucial, is related to
The degree of accuracy of welding and welding effect.
In prior art, underwater weld identifying schemes is merely by Underwater Camera to welded part
Whole image shoots, and gives waterborne by real-time Transmission after the whole compressed encoding of workpiece image after shooting
Computer control system, operator waterborne, by viewing workpiece image, by virtue of experience determine weld seam position
Put, handle welding equipment under water, weld according to position while welding.But, this recognition method
Suffering from the drawback that (1) is severe due to underwater environment, the workpiece image that remote transmission comes is often
Smudgy, affect the judgement of position while welding；(2) due to workpiece image without image procossing it is
Transmitting, the data volume of transmission is bigger than normal, and valid data are less；(3) Underwater Camera is always
At shooting state, waste limited underwater power source.
Accordingly, it would be desirable to a kind of underwater weld automatic identifying method, it is possible to the work to Underwater Camera shooting
Part image is effectively treated, and recognizes the image relevant to welding gap, and only transmits and weld
The image that gap is relevant, meanwhile, it is capable to set up the power saving administrative mechanism of underwater camera equipment.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of underwater weld automatic identifying method, transformation
Existing underwater weld identification system, for severe underwater environment, quotes at the image of multiple correspondence
Reason technology automatically identifies welds slot image clearly, the soldered only recognized to transmission waterborne
Gap image, and, introduce ultrasonic detection technology, ensure that underwater camera equipment is only near welding
Just start underwater camera operation in the case of workpiece, thus improve the intelligent water that welding gap identifies
While Ping, save electric power under water in short supply.
According to an aspect of the present invention, it is provided that a kind of underwater weld automatic identifying method, the method
Comprise the following steps: 1) a kind of underwater weld automatic recognition system is provided, described identification system includes
Underwater light source, Underwater Camera, control equipment and Wireless Telecom Equipment, described underwater light source be used for be
The underwater photograph technical of described Underwater Camera provides light source, and described Underwater Camera is used for shooting workpiece under water
Welding image when being soldered, described control equipment is connected with described Underwater Camera, for described
Welding image performs image procossing, to identify the workpiece weld seam in described welding image, described wireless
Communication equipment is positioned at waterborne, is connected with described control equipment by submerged cable, to receive described workpiece
Described workpiece weld seam is also wirelessly sent to computer waterborne by weld seam；And 2) use described system
Identify.
More specifically, in described underwater weld automatic recognition system, also include: fixed transverse rod, perpendicular
Stand in water, same for ultrasonic distance detecting devices, underwater light source and Underwater Camera are fixed on
On one vertical, described workpiece under water is just placed by described fixed transverse rod；Driving equipment, solid with described
Determine cross bar to connect, be used for driving described fixed transverse rod to move to described workpiece under water；Static storage device,
For prestoring ultrasonic underwater transfer rate, relative distance threshold value and percentage threshold；Ultrasound wave
Object detecting apparatus, just places described workpiece under water, including RS-232 serial communication interface, surpasses
Pinger, ultrasonic receiver and microcontroller, described ultrasonic transmitter is for described water
Ultrasonic signal launched by lower workpiece, described ultrasonic receiver be used for receiving described under water workpiece be transmitted back to
The ultrasonic signal come, described microcontroller and described ultrasonic transmitter, described ultrasonic receiver
Connect respectively with described static storage device, according to described ultrasonic transmitter launch ultrasonic signal and
Time difference and described ultrasonic underwater between described ultrasonic receiver received ultrasonic signal pass
Described in defeated rate calculations under water workpiece apart from the relative distance of described ultrasonic distance detecting devices, and
Startup shooting signal is sent when described relative distance is less than or equal to described relative distance threshold value, described
RS-232 serial communication interface is connected with described microcontroller, for by described relative distance with described open
Dynamic shooting signal sends with serial communication mode；Described underwater light source is halogen tungsten lamp light source, with institute
State ultrasonic distance detecting devices to connect, when receiving described startup shooting signal, start described
The floor light of workpiece under water；Described Underwater Camera is high-definition camera, with described ultrasonic distance
Detecting devices connects, and when receiving described startup shooting signal, starts the weldering to described workpiece under water
The shooting of map interlinking picture, the resolution of described high-definition camera is 1280 × 720；Described control equipment bag
Include 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 image segmentation unit, described wavelet filtering list
First and described Underwater Camera is connected, for performing described welding image based on Harr wavelet filter
Wavelet filtering, it is thus achieved that filtering image, described gray processing processing unit is connected with described wavelet filtering unit,
Process for described filtering image is performed gray processing, it is thus achieved that gray level image, described threshold value determination unit
It is connected with described gray processing processing unit, selects each gray value between 0-255 as time one by one
Select gray value threshold value, use candidate's gray value threshold value that described gray level image is divided into target gray image
With background gray level image, and add up the picture between described target gray image and described background gray level image
Element gray value variance, takes the maximum candidate's gray value threshold value of described grey scale pixel value variance as target ash
Angle value threshold value, described image segmentation unit and described threshold value determination unit and described gray processing processing unit
Connect, based on described target gray value threshold value, described gray level image is divided into target gray image and background
Gray level image, using the target gray image that arrives based on described target gray value Threshold segmentation as described weldering
Workpiece weld seam output in map interlinking picture；Described single-chip microcomputer and described ultrasonic distance detecting devices, described
Image segmentation unit and described Underwater Camera connect respectively, and described welding image is performed MPEG-2
The compression of images of standard compresses welding image to generate, and by described relative distance, described workpiece weld seam
It is transmitted to described Wireless Telecom Equipment with described compression welding image；Described Wireless Telecom Equipment is with described
Driving equipment and described single-chip microcomputer connect respectively, and the driving that wireless receiving computer waterborne sends controls letter
Number, and described drive control signal is transmitted to described driving equipment, exists controlling described fixed transverse rod
Position in water, also by wireless to described relative distance, described workpiece weld seam and described compression welding image
It is sent to described computer waterborne；Wherein, described single-chip microcomputer also with described threshold value determination unit and described
Static storage device connects respectively, with when own resource occupancy is below percentage threshold, replaces
Perform all operations of described threshold value determination unit, in own resource occupancy more than percentage threshold
Time, terminate the replacement of all operations to described threshold value determination unit.
More specifically, in described underwater weld automatic recognition system, described microcontroller is in described phase
End shooting signal is sent when adjusting the distance more than described relative distance threshold value.
More specifically, in described underwater weld automatic recognition system, described underwater light source is when receiving
During described end shooting signal, stop the floor light to described workpiece under water.
More specifically, in described underwater weld automatic recognition system, described Underwater Camera is when receiving
During to described end 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 equipment, described
Static storage device and described driving integration of equipments are on one piece of surface-mounted integrated circuit, and by described integrated electricity
Road plate is enclosed in waterproof case.
More specifically, in described underwater weld automatic recognition system, described underwater light source, described water
Lower video camera and described ultrasonic distance detecting devices are respectively provided with waterproof case.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure square frame according to the underwater weld automatic recognition system shown in embodiment of the present invention
Figure.
Fig. 2 be ultrasound wave according to the underwater weld automatic recognition system shown in embodiment of the present invention away from
Block diagram from detecting devices.
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the underwater weld automatic recognition system of the present invention is carried out
Describe in detail.
Along with the day of land resources is becoming tight, people start to put under water the eye of exploitation, provide under water
Source includes marine resources and river course, inland resource, due to the abominable of underwater environment, is only improved under water
The Maturity of solder technology, could accelerate Underwater resources development rate, thus obtain more economic effect
Benefit.
Traditional under-water welding is connected to dry method, wet method and local dry cavity three kinds.Dry method welding is that employing is large-scale
Air chamber covers weldment, and welding operation personnel weld in air chamber, has the advantage that safety is good,
But limitation is very big, applies the most universal.Wet method welding is that welding operation personnel the most directly weld,
Rather than artificially the water around weld zone is arranged, this mode is applied more, but safety is the highest.
Local dry cavity welding is welding operation personnel weldings in water, but is arranged by the water around weld zone artificially
Opening, this method uses the most universal.
Current application is more and more welding equipment and welding workpiece to be placed in water, welding operation people
Weld seam found by member's remote control welding equipment on the water, performs welding operation, and this mode overcomes
The shortcoming stating three kinds of underwater welding methods, but owing to being remotely to control, the identification accuracy of weld seam is especially
Crucial.
The underwater weld automatic recognition system of the present invention, is known automatically by high-precision image-recognizing method
Do not go out weld image clearly, and send computer system waterborne to offer is remotely provided for operator
Effectively foundation, it addition, determined the distance of Underwater Camera and workpiece by ultrasonic detection technology,
Distance starts the operation of Underwater Camera in the position time side of relative close, ensures that the image of shooting has ginseng
While examining meaning, reduce the need for electricity of Underwater Camera.
Fig. 1 is the structure square frame according to the underwater weld automatic recognition system shown in embodiment of the present invention
Figure, described identification system includes: underwater light source 1, Underwater Camera 2, control equipment 3, channel radio
Letter equipment 4 and power supply equipment 5, described control equipment 3 and described underwater light source 1, described water
Lower video camera 2, described Wireless Telecom Equipment 4 and described power supply equipment 5 connect respectively.
Wherein, described underwater light source 1 provides light source for the underwater photograph technical for described Underwater Camera 2,
Described Underwater Camera 2 is for shooting welding image when workpiece is soldered under water, described control equipment
3 for performing image procossing to described welding image, to identify the workpiece weldering in described welding image
Seam, described Wireless Telecom Equipment 4 is positioned at waterborne, is connected with described control equipment 3 by submerged cable,
To receive described workpiece weld seam and described workpiece weld seam be wirelessly sent to computer waterborne, described electric power
Supply equipment 5 provides for described underwater weld automatic recognition system under the control of described control equipment 3
Supply of electric power.
Then, continue the concrete structure of the underwater weld automatic recognition system of the present invention is carried out further
Explanation.
Described identification system also includes: fixed transverse rod, is erected in water, for being visited by ultrasonic distance
Measurement equipment, underwater light source 1 and Underwater Camera 2 are fixed on same vertical, described fixed transverse rod
Just described workpiece under water is placed.
Described identification system also includes: drives equipment, is connected with described fixed transverse rod, is used for driving institute
State fixed transverse rod to move to described workpiece under water.
Described identification system also includes: static storage device, is used for prestoring ultrasonic underwater transmission
Speed, relative distance threshold value and percentage threshold.
As in figure 2 it is shown, described identification system also includes: ultrasonic distance detecting devices, just to described
Workpiece is placed under water, connects including RS-232 serial communication interface 7, ultrasonic transmitter 8, ultrasound wave
Receiving device 9 and microcontroller 6, described ultrasonic transmitter 8 is for launching ultrasonic to described workpiece under water
Ripple signal, the described ultrasonic receiver 9 ultrasound wave letter that workpiece fires back under water described in receive
Number, described microcontroller 6 and described ultrasonic transmitter 8, described ultrasonic receiver 9 and described
Static storage device connects respectively, launches ultrasonic signal and described according to described ultrasonic transmitter 8
Time difference between ultrasonic receiver 9 received ultrasonic signal and described ultrasonic underwater transmission speed
Rate calculate described in workpiece is apart from the relative distance of described ultrasonic distance detecting devices under water, and described
Startup shooting signal, described RS-232 is sent when relative distance is less than or equal to described relative distance threshold value
Serial communication interface 7 is connected with described microcontroller 6, for by described relative distance and described startup
Shooting signal sends with serial communication mode.
Described underwater light source 1 is halogen tungsten lamp light source, is connected with described ultrasonic distance detecting devices, when
When receiving described startup 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,
When receiving described startup 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 equipment 3 includes single-chip microcomputer and four pieces of fpga chips；Described four pieces of fpga chips
It is respectively used to realize wavelet filtering unit, gray processing processing unit, threshold value determination unit and image segmentation
Unit, described wavelet filtering unit is connected with described Underwater Camera 2, for described welding image
Wavelet filtering is performed, it is thus achieved that filtering image, described gray processing processing unit based on Harr wavelet filter
It is connected with described wavelet filtering unit, processes for described filtering image is performed gray processing, it is thus achieved that ash
Degree image.
Described threshold value determination unit is connected with described gray processing processing unit, selects between 0-255 one by one
Each gray value as candidate's gray value threshold value, use candidate's gray value threshold value by described gray-scale map
As being divided into target gray image and background gray level image, and add up described target gray image and described
Grey scale pixel value variance between background gray level image, takes the candidate that described grey scale pixel value variance is maximum
Gray value threshold value is as target gray value threshold value, described image segmentation unit and described threshold value determination unit
Connect with described gray processing processing unit, based on described target gray value threshold value, described gray level image is divided
For target gray image and background gray level image, the mesh that will arrive based on described target gray value Threshold segmentation
Mark gray level 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 water
Lower video camera 2 connects respectively, described welding image performs the compression of images of Moving Picture Experts Group-2 with life
Become compression welding image, and by described relative distance, described workpiece weld seam and described compression welding image
It is 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 connects
Receive the drive control signal that computer waterborne sends, and drive described in described drive control signal is transmitted to
Dynamic equipment, to control described fixed transverse rod position in water, also by described relative distance, described work
Part weld seam and described compression welding image are wirelessly sent to described computer waterborne.
Wherein, described single-chip microcomputer also connects respectively with described threshold value determination unit and described static storage device
Connect, with when own resource occupancy is below percentage threshold, replaces the described threshold value of execution and determine list
The all operations of unit, when own resource occupancy is more than percentage threshold, terminates described threshold value
Determine the replacement of all operations of unit.
Wherein, in described identification system, described microcontroller 6 can also be big in described relative distance
Sending end shooting signal when described relative distance threshold value, described underwater light source 1 is described when receiving
When terminating shooting signal, the floor light to described workpiece under water, described Underwater Camera can be stopped
2 when receive described terminate shooting signal time, welding image to described workpiece under water can be stopped
Shooting, and can be by described control equipment 3, described static storage device and described driving equipment collection
On Cheng Yi block surface-mounted integrated circuit, and described surface-mounted integrated circuit is enclosed in waterproof case, described water
Lower light source 1, described Underwater Camera 2 and described ultrasonic distance detecting devices be respectively provided with waterproof outside
Shell.
It addition, small echo, i.e. Wavelet, it is simply that zonule, limited length, average are the waveform of 0.
So-called " little " refers to that it has Decay Rate；Being referred to as " ripple " and then refer to its undulatory property, it shakes
The concussion form of width alternate positive and negative.With Fourier conversion compared with, wavelet transformation be the time (space) frequently
The localization analysis of rate, he by flexible shift operations signal (function) progressively carried out multiple dimensioned carefully
Changing, be finally reached high frequency treatment time subdivision, at low frequency, frequency segmentation, can automatically adapt to time frequency signal and divide
The requirement of analysis, thus any details of signal can be focused on, solve the difficult problem of Fourier conversion,
Wavelet transformation can be called " school microscop ", wherein wavelet filtering is that the important of wavelet transformation should
One of with.
It addition, serial communication interface standard is through using and developing, has several, but be all
Formed through improvement on the basis of rs-232 standard.RS-232C standard is U.S. EIA (electricity
Sub-industrial combination meeting) communication protocol of announcement in 1969 developed together with the company such as BELL.He
It is suitable for message transmission rate communication in the range of 0～20000b/s.This standard is to serial communication
The relevant issues of interface, as holding wire function, electrical characteristic all make explicit provisions.Owing to communication sets
Standby manufacturer all produces and the communication equipment of RS-232C multiple display modes compatible, and therefore, he is as a kind of standard,
The most widely used in microcomputer communication interface.
RS-232-C is EIA EIA (Electronic Industry Association)
A kind of serial physical interface standards formulated.RS is the abbreviation of English " proposed standard ", and 232 is mark
Knowledge number, C represents amendment number of times.RS-232-C bus standard is provided with 25 signal line, including one
Main channel and an accessory channel.Mainly use main channel, logical for general duplex
Letter, it is only necessary to several signal line achieve that, as one sends line, a reception line and a ground wire.
The message transmission rate that RS-232-C standard specifies is 50,75,100,150,300,600,
1200,2400,4800,9600,19200,38400 baud.RS-232-C standard specifies, drives
Dynamic device allows the capacitive load of 2500pF, and communication distance will be limited by this electric capacity, such as, uses
During the communication cable of 150pF/m, maximum communication distance is 15m；If the capacitance of every meter of cable reduces,
Communication distance can increase.Short another reason of transmission range is that RS-232 belongs to single-ended signal transmission,
There is altogether Earth noise and can not suppress the problems such as common mode disturbances, be therefore generally used within 20m is logical
Letter.
Use the underwater weld automatic recognition system of the present invention, know for existing underwater weld recognition mode
The highest technical problem causing welding effect difference of other precision, on the one hand, by welding image is introduced figure
As processing mode, especially introduce the threshold value for image background segmentation and select mechanism, improve welding gap
The accuracy identified, on the other hand, introduces ultrasonic distance testing mechanism to guarantee that Underwater Camera is only
Have when closer distance and just to start shooting operation, effectiveness same of the welding image ensureing shooting
Time, also improve the definition of the welding image basic as image recognition.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. a underwater weld automatic identifying method, the method comprises the following steps:
1) provide a kind of underwater weld automatic recognition system, described identification system include underwater light source,
Underwater Camera, control equipment and Wireless Telecom Equipment, described underwater light source is for taking the photograph under water for described
The underwater photograph technical of camera provides light source, and described Underwater Camera is when shooting that workpiece is soldered under water
Welding image, described control equipment is connected with described Underwater Camera, for holding described welding image
Row image procossing, to identify the workpiece weld seam in described welding image, described Wireless Telecom Equipment position
In waterborne, it is connected with described control equipment by submerged cable, to receive described workpiece weld seam and by institute
State workpiece weld seam and be wirelessly sent to computer waterborne；And
2) described system is used to identify；
Described identification system also includes:
Fixed transverse rod, is erected in water, for by ultrasonic distance detecting devices, underwater light source and water
Lower video camera is fixed on same vertical, and described workpiece under water is just placed by described fixed transverse rod；
Driving equipment, is connected with described fixed transverse rod, be used for driving described fixed transverse rod to described under water
Workpiece moves；
Static storage device, be used for prestoring ultrasonic underwater transfer rate, relative distance threshold value and
Percentage threshold；
Ultrasonic distance detecting devices, just places described workpiece under water, leads to including RS-232 serial
Letter interface, ultrasonic transmitter, ultrasonic receiver and microcontroller, described ultrasonic transmitter is used
In launching ultrasonic signal to described workpiece under water, described ultrasonic receiver be used for receiving described under water
The ultrasonic signal that workpiece fires back is described microcontroller and described ultrasonic transmitter, described super
Acoustic receiver and described static storage device connect respectively, launch super according to described ultrasonic transmitter
Time difference between acoustic signals and described ultrasonic receiver received ultrasonic signal and described super
Described in sound wave underwater transmission rate calculations under water workpiece apart from the phase of described ultrasonic distance detecting devices
Adjust the distance, and send startup shooting letter when described relative distance is less than or equal to described relative distance threshold value
Number, described RS-232 serial communication interface is connected with described microcontroller, for will described relative away from
Send with serial communication mode from the described shooting signal that starts；
Described underwater light source is halogen tungsten lamp light source, is connected with described ultrasonic distance detecting devices, when connecing
When receiving described startup shooting 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
When receiving described startup shooting signal, start the shooting of the welding image to described workpiece under water, institute
The resolution stating high-definition camera is 1280 × 720；
Described control equipment includes single-chip microcomputer and four pieces of fpga chips；
Described four pieces of fpga chips be respectively used to realize wavelet filtering unit, gray processing processing unit,
Threshold value determination unit and image segmentation unit, described wavelet filtering unit is with described Underwater Camera even
Connect, for described welding image is performed wavelet filtering based on Harr wavelet filter, it is thus achieved that filtering figure
Picture, described gray processing processing unit is connected with described wavelet filtering unit, for described filtering image
Execution gray processing processes, it is thus achieved that gray level image, and described threshold value determination unit and described gray processing process single
Unit connects, and selects each gray value between 0-255 as candidate's gray value threshold value one by one, uses
Described gray level image is divided into target gray image and background gray level image by candidate's gray value threshold value, and
Add up 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 is connected with described threshold value determination unit and described gray processing processing unit, based on described target
Described gray level image is divided into target gray image and background gray level image by gray value threshold value, will be based on institute
State target gray value Threshold segmentation to target gray image as in described welding image workpiece weld
Seam output；
Described single-chip microcomputer and described ultrasonic distance detecting devices, described image segmentation unit and described water
Lower video camera connects respectively, described welding image performs the compression of images of Moving Picture Experts Group-2 to generate
Compression welding image, and described relative distance, described workpiece weld seam and described compression welding image are turned
Issue described Wireless Telecom Equipment；
Described Wireless Telecom Equipment is connected respectively with described driving equipment and described single-chip microcomputer, wireless receiving
The drive control signal that computer waterborne sends, and described drive control signal is transmitted to described driving
Equipment, to control described fixed transverse rod position in water, also by described relative distance, described workpiece
Weld seam and described compression welding image are wirelessly sent to described computer waterborne；
Wherein, described single-chip microcomputer also connects respectively with described threshold value determination unit and described static storage device
Connect, with when own resource occupancy is below percentage threshold, replaces the described threshold value of execution and determine list
The all operations of unit, when own resource occupancy is more than percentage threshold, terminates described threshold value
Determine the replacement of all operations of unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510642798.4A CN105149824B (en) | 2015-01-24 | 2015-01-24 | Method for automatically identifying underwater welding seams |
| CN201510035530.4A CN104690455B (en) | 2015-01-24 | 2015-01-24 | A kind of underwater weld automatic identifying method |
| CN201510641171.7A CN105234597A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater weld joint recognition method |
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| CN201510035530.4A CN104690455B (en) | 2015-01-24 | 2015-01-24 | A kind of underwater weld automatic identifying method |
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| CN201510642798.4A Division CN105149824B (en) | 2015-01-24 | 2015-01-24 | Method for automatically identifying underwater welding seams |
| CN201510641171.7A Division CN105234597A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater weld joint recognition method |
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| CN104690455B true CN104690455B (en) | 2016-08-24 |
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| CN201510641171.7A Pending CN105234597A (en) | 2015-01-24 | 2015-01-24 | Automatic underwater weld joint recognition method |
| CN201510035530.4A Active CN104690455B (en) | 2015-01-24 | 2015-01-24 | A kind of underwater weld automatic identifying method |
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| CN105149824B (en) * | 2015-01-24 | 2017-03-22 | 青岛橡胶谷知识产权有限公司 | Method for automatically identifying underwater welding seams |
| CN106112202B (en) * | 2015-08-04 | 2018-10-02 | 罗芳芳 | Underwater robot based on multiple filter processing |
| CN104985290A (en) * | 2015-08-04 | 2015-10-21 | 梁彦云 | Neural-network-identification-based underwater weld joint tracking method |
| CN105834618A (en) * | 2015-08-04 | 2016-08-10 | 李勇妹 | Diver portable system |
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| CN202435524U (en) * | 2011-12-28 | 2012-09-12 | 中国海洋石油总公司 | Underwater welding monitoring device |
| CN102903406A (en) * | 2012-10-12 | 2013-01-30 | 中广核检测技术有限公司 | Video inspection system of nuclear power station reactor pressure container |
| 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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| 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 |
| JP3433229B2 (en) * | 2001-02-26 | 2003-08-04 | 独立行政法人産業技術総合研究所 | Underwater welding method and apparatus |
| CN103412345B (en) * | 2013-08-16 | 2016-01-06 | 中国舰船研究设计中心 | Automatic aircraft carrier flight deck foreign matter detection recognition system |
| CN105149824B (en) * | 2015-01-24 | 2017-03-22 | 青岛橡胶谷知识产权有限公司 | Method for automatically identifying underwater welding seams |
-
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- 2015-01-24 CN CN201510641171.7A patent/CN105234597A/en active Pending
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202435524U (en) * | 2011-12-28 | 2012-09-12 | 中国海洋石油总公司 | Underwater welding monitoring device |
| CN102903406A (en) * | 2012-10-12 | 2013-01-30 | 中广核检测技术有限公司 | Video inspection system of nuclear power station reactor pressure container |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104690455A (en) | 2015-06-10 |
| CN105149824A (en) | 2015-12-16 |
| CN105234597A (en) | 2016-01-13 |
| CN105149824B (en) | 2017-03-22 |
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