CN105057884A - Underwater welding platform based on laser image processing - Google Patents
Underwater welding platform based on laser image processing Download PDFInfo
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- CN105057884A CN105057884A CN201510471136.5A CN201510471136A CN105057884A CN 105057884 A CN105057884 A CN 105057884A CN 201510471136 A CN201510471136 A CN 201510471136A CN 105057884 A CN105057884 A CN 105057884A
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- laser
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- underwater
- weld seam
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
Abstract
The invention relates to an underwater welding platform based on laser image processing. The underwater welding platform comprises laser imaging equipment and seam tracking equipment. The laser imaging equipment starts shooting of underwater laser images based on the sonar image processing result, and the seam tracking equipment is connected with the laser imaging equipment to conduct laser imaging processing on the underwater laser images so as to determine relevant seam information. By means of the underwater welding platform, high-quality laser images can serve as recognition bases, and the positions of underwater seams can be positioned in time.
Description
Technical field
The present invention relates to image processing field, particularly relate to a kind of Underwater Welding platform based on laser image process.
Background technology
The quality of underwater installation is largely determined by Underwater Welding quality, and the primary fortress of Underwater Welding is butt welded seam accurate positioning, in prior art, because underwater operation environment is special, Underwater Imaging technology is difficult to control, and causes imaging effect not good, cannot carry out weld seam recognition.
For this reason, need a kind of weld seam recognition scheme based on high-quality laser image, accurately can control the shutter release of underwater laser images device, accurately can identify the position while welding in laser image, and and then can automatic welding be carried out, thus extend life-span of underwater installation.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides a kind of Underwater Welding platform based on laser image process, utilize jig main framework as underwater welding equipment carrier, utilize the shutter triggered time of sonar and sonar image processing equipment determination underwater laser images equipment, image recognition technology and framing technology is targetedly adopted accurately to determine position while welding, to implement automatic welding based on position while welding.
According to an aspect of the present invention, provide a kind of Underwater Welding platform based on laser image process, described jig comprises laser imaging apparatus and weld joint tracking equipment, described laser imaging apparatus starts the shooting to underwater laser image based on sonar image result, described weld joint tracking equipment is connected with described laser imaging apparatus, carries out laser image process to determine weld seam relevant information to described underwater laser image.
More specifically, also comprise: electrode holders based in the Underwater Welding platform of laser image process described, for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel, safety switch, its cathode conductor is connected to described electrode holders, earth clip, is fixed on workpiece to be welded, electric welding machine, negative pole is connected to described electrode holders, plus earth, electrode holders driving arrangement, is connected with described electrode holders, for driving described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders drive singal, electrode holders drive motors is a direct current generator, for the driving of described electrode holders driving arrangement to described electrode holders provides power, static storage device, be arranged on described jig main framework, the luminance threshold upper limit and luminance threshold lower limit are prestored, also for prestoring black and white threshold value and threshold number of pixels, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored gray processing weld seam masterplate, and described gray processing weld seam masterplate obtains for taking obtained weld image execution gray processing process to benchmark weld seam, sonar, is arranged on described jig main framework, for performing sonar image collection, to obtain sonar image to submarine target, sonar image treatment facility, be arranged on described jig main framework, be connected respectively with described sonar and described static storage device, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described static storage device, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit, described second detection subset detects subset with described first and described static storage device is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region, described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range, laser imaging apparatus, be arranged on described jig main framework, comprise laser instrument, detector and microcontroller, described laser instrument gives off laser beam to submarine target, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water spread speed determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image, described weld joint tracking equipment, be arranged on described jig main framework, be connected with described laser imaging apparatus, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described laser imaging apparatus, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater laser image, to obtain pretreated water hypograph, described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture, described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns, described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines, described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subgraph from described binaryzation underwater picture, described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subgraph and described gray processing weld seam stencil matching, the match is successful, then export and there is weld seam signal, it fails to match, then export and there is not weld seam signal, digital signal processor, be arranged on described jig main framework, with described weld joint tracking equipment connection, for receive described there is weld seam signal time, described target subgraph is performed MPEG-4 compressed encoding to obtain compressed image, and by described compressed image with describedly there is weld seam signal and be sent to soldering center waterborne by submerged cable, wherein, described digital signal processor receive described there is weld seam signal time, according to the relative position determination electrode holders drive singal of weld seam subgraph image under water.
More specifically, described based in the Underwater Welding platform of laser image process: described digital signal processor, when there is not weld seam signal described in receiving, does not exist weld seam signal and is sent to soldering center waterborne by described by submerged cable.
More specifically, described based in the Underwater Welding platform of laser image process, described jig also comprises: GPS positioning equipment, be arranged on the water surface float above described jig main framework, be connected with described digital signal processor, for receive described there is weld seam signal time, the GPS locator data received is sent to soldering center waterborne.
More specifically, described based in the Underwater Welding platform of laser image process: described GPS positioning equipment comprises solar energy photovoltaic panel, for providing supply of electric power for described GPS positioning equipment.
More specifically, described based in the Underwater Welding platform of laser image process: described digital signal processor is the dsp chip of TI company.
More specifically, described based in the Underwater Welding platform of laser image process: described static storage device is SDRAM.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the Underwater Welding platform based on laser image process illustrated according to an embodiment of the present invention.
Reference numeral: 1 laser imaging apparatus; 2 weld joint tracking equipment
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the Underwater Welding platform based on laser image process of the present invention is described in detail.
In prior art, due to the particular surroundings of underwater operation, Underwater Welding difficulty is comparatively large, and its laser imaging is difficult to control opportunity, and lacks the image recognition technology and location technology that adapt to underwater environment, causes underwater weld to be difficult to identify and location.
In order to overcome above-mentioned deficiency, the present invention has built a kind of Underwater Welding platform based on laser image process, by transforming the concrete structure of underwater welding equipment, introducing the electronic assistance aids of a series of applicable underwater operation, making automatically to identify weld seam, implement to be welded into possibility.
Fig. 1 is the block diagram of the Underwater Welding platform based on laser image process illustrated according to an embodiment of the present invention, described jig comprises laser imaging apparatus and weld joint tracking equipment, described laser imaging apparatus starts the shooting to underwater laser image based on sonar image result, described weld joint tracking equipment is connected with described laser imaging apparatus, carries out laser image process to determine weld seam relevant information to described underwater laser image.
Then, continue to be further detailed the concrete structure of the Underwater Welding platform based on laser image process of the present invention.
Described jig also comprises: electrode holders, and for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel; Safety switch, its cathode conductor is connected to described electrode holders; Earth clip, is fixed on workpiece to be welded; Electric welding machine, negative pole is connected to described electrode holders, plus earth; Electrode holders driving arrangement, is connected with described electrode holders, for driving described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders drive singal; Electrode holders drive motors is a direct current generator, for the driving of described electrode holders driving arrangement to described electrode holders provides power.
Described jig also comprises: static storage device, be arranged on described jig main framework, the luminance threshold upper limit and luminance threshold lower limit are prestored, also for prestoring black and white threshold value and threshold number of pixels, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored gray processing weld seam masterplate, and described gray processing weld seam masterplate obtains for taking obtained weld image execution gray processing process to benchmark weld seam.
Described jig also comprises: sonar, is arranged on described jig main framework, for performing sonar image collection, to obtain sonar image to submarine target.
Described jig also comprises: sonar image treatment facility, be arranged on described jig main framework, be connected respectively with described sonar and described static storage device, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described static storage device, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset detects subset with described first and described static storage device is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region; Described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range.
Described jig also comprises: laser imaging apparatus, be arranged on described jig main framework, comprise laser instrument, detector and microcontroller, described laser instrument gives off laser beam to submarine target, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water spread speed determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image.
Described weld joint tracking equipment, be arranged on described jig main framework, be connected with described laser imaging apparatus, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described laser imaging apparatus, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater laser image, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subgraph from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subgraph and described gray processing weld seam stencil matching, the match is successful, then export and there is weld seam signal, it fails to match, then export and there is not weld seam signal.
Described jig also comprises: digital signal processor, be arranged on described jig main framework, with described weld joint tracking equipment connection, for receive described there is weld seam signal time, described target subgraph is performed MPEG-4 compressed encoding to obtain compressed image, and by described compressed image with describedly there is weld seam signal and be sent to soldering center waterborne by submerged cable; Wherein, described digital signal processor receive described there is weld seam signal time, according to the relative position determination electrode holders drive singal of weld seam subgraph image under water.
Alternatively, described based in the Underwater Welding platform of laser image process: described digital signal processor, when there is not weld seam signal described in receiving, does not exist weld seam signal and is sent to soldering center waterborne by described by submerged cable; Described jig also comprises: GPS positioning equipment, be arranged on the water surface float above described jig main framework, be connected with described digital signal processor, for receive described there is weld seam signal time, the GPS locator data received is sent to soldering center waterborne; Described GPS positioning equipment comprises solar energy photovoltaic panel, for providing supply of electric power for described GPS positioning equipment; Described digital signal processor is the dsp chip of TI company; Described static storage device is SDRAM.
Adopt the Underwater Welding platform based on laser image process of the present invention, the impalpable technical problem of weld seam is caused because laser imaging precision is low in prior art, comprise Image semantic classification subset by introducing, binary conversion treatment subset, column border detect the weld seam recognition equipment butt welded seam of subset, row rim detection subset, Target Segmentation subset and target recognin equipment and accurately identify, and transform existing underwater welding equipment to complete automatic welding under water.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (7)
1. the Underwater Welding platform based on laser image process, described jig comprises laser imaging apparatus and weld joint tracking equipment, described laser imaging apparatus starts the shooting to underwater laser image based on sonar image result, described weld joint tracking equipment is connected with described laser imaging apparatus, carries out laser image process to determine weld seam relevant information to described underwater laser image.
2., as claimed in claim 1 based on the Underwater Welding platform of laser image process, it is characterized in that, described jig also comprises:
Electrode holders, for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel;
Safety switch, its cathode conductor is connected to described electrode holders;
Earth clip, is fixed on workpiece to be welded;
Electric welding machine, negative pole is connected to described electrode holders, plus earth;
Electrode holders driving arrangement, is connected with described electrode holders, for driving described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders drive singal;
Electrode holders drive motors is a direct current generator, for the driving of described electrode holders driving arrangement to described electrode holders provides power;
Static storage device, be arranged on described jig main framework, the luminance threshold upper limit and luminance threshold lower limit are prestored, also for prestoring black and white threshold value and threshold number of pixels, described black and white threshold value is used for performing binary conversion treatment to image, described static storage device has also prestored gray processing weld seam masterplate, and described gray processing weld seam masterplate obtains for taking obtained weld image execution gray processing process to benchmark weld seam;
Sonar, is arranged on described jig main framework, for performing sonar image collection, to obtain sonar image to submarine target;
Sonar image treatment facility, be arranged on described jig main framework, be connected respectively with described sonar and described static storage device, comprise the first detection subset, second and detect subset and object range detection subset, described first detects subset is connected respectively with described sonar and described static storage device, travels through sonar image to be partitioned into core objective region for adopting the luminance threshold upper limit; Described second detection subset detects subset with described first and described static storage device is connected respectively, for using the marginal point in described core objective region as Seed Points, luminance threshold lower limit is utilized to carry out brightness judgement to the pixel of core objective areas adjacent, to obtain and to be partitioned into final goal region; Described object range detection subset and described second detects subset and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range;
Laser imaging apparatus, be arranged on described jig main framework, comprise laser instrument, detector and microcontroller, described laser instrument gives off laser beam to submarine target, with when described laser beam is reflexed to described detector by submarine target, be convenient to the shooting of described detector, described microcontroller and described sonar image treatment facility, described laser instrument is connected respectively with described detector, based target Distance geometry laser under water spread speed determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector to take submarine target, to obtain underwater laser image,
Described weld joint tracking equipment, be arranged on described jig main framework, be connected with described laser imaging apparatus, comprise Image semantic classification subset, binary conversion treatment subset, column border detection subset, row rim detection subset, Target Segmentation subset and target recognin equipment, described Image semantic classification subset is connected with described laser imaging apparatus, strengthen and wavelet filtering process to perform adaptive edge successively to described underwater laser image, to obtain pretreated water hypograph; Described binary conversion treatment subset is connected respectively with described Image semantic classification subset and described static storage device, the brightness of each pixel of described pretreated water hypograph is compared respectively with described black and white threshold value, when the brightness of pixel is greater than described black and white threshold value, pixel is designated as white pixel, when the brightness of pixel is less than described black and white threshold value, pixel is designated as black picture element, thus obtains binaryzation underwater picture; Described column border detects subset and is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels are designated as edge columns; Described row rim detection subset is connected respectively with described binary conversion treatment subset and described static storage device, for to described binaryzation underwater picture, calculate the number of often row black picture element, the row that the number of black picture element is more than or equal to described threshold number of pixels is designated as edge lines; Described Target Segmentation subset and described column border detect subset and described row rim detection subset is connected respectively, region edge columns and edge lines interweaved as target domain of the existence, and is partitioned into described target domain of the existence to export as target subgraph from described binaryzation underwater picture; Described target recognin equipment is connected respectively with described Target Segmentation subset and described static storage device, by described target subgraph and described gray processing weld seam stencil matching, the match is successful, then export and there is weld seam signal, it fails to match, then export and there is not weld seam signal;
Digital signal processor, be arranged on described jig main framework, with described weld joint tracking equipment connection, for receive described there is weld seam signal time, described target subgraph is performed MPEG-4 compressed encoding to obtain compressed image, and by described compressed image with describedly there is weld seam signal and be sent to soldering center waterborne by submerged cable;
Wherein, described digital signal processor receive described there is weld seam signal time, according to the relative position determination electrode holders drive singal of weld seam subgraph image under water.
3., as claimed in claim 2 based on the Underwater Welding platform of laser image process, it is characterized in that:
When there is not weld seam signal described in receiving, weld seam signal is there is not and is sent to soldering center waterborne by submerged cable in described digital signal processor by described.
4., as claimed in claim 2 based on the Underwater Welding platform of laser image process, it is characterized in that, described jig also comprises:
GPS positioning equipment, is arranged on the water surface float above described jig main framework, is connected with described digital signal processor, for receive described there is weld seam signal time, the GPS locator data received is sent to soldering center waterborne.
5., as claimed in claim 4 based on the Underwater Welding platform of laser image process, it is characterized in that:
Described GPS positioning equipment comprises solar energy photovoltaic panel, for providing supply of electric power for described GPS positioning equipment.
6., as claimed in claim 2 based on the Underwater Welding platform of laser image process, it is characterized in that:
Described digital signal processor is the dsp chip of TI company.
7., as claimed in claim 2 based on the Underwater Welding platform of laser image process, it is characterized in that:
Described static storage device is SDRAM.
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| CN201610299040.XA Division CN105710576A (en) | 2015-08-04 | 2015-08-04 | Underwater welding platform based on laser image processing |
| CN201610307450.4A Division CN105728918A (en) | 2015-08-04 | 2015-08-04 | Underwater welding platform based on laser image processing |
| CN201610192930.0A Division CN105665923A (en) | 2015-08-04 | 2015-08-04 | Underwater welding platform based on laser image processing |
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| JP2003094183A (en) * | 2001-09-19 | 2003-04-02 | Sanyo Electric Co Ltd | Laser beam welding method and laser beam welding apparatus |
| JP2004216418A (en) * | 2003-01-14 | 2004-08-05 | Komatsu Ltd | Laser beam machine |
| CN102179599A (en) * | 2011-04-01 | 2011-09-14 | 清华大学 | Underwater welding local mask with welding line tracking function |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003094183A (en) * | 2001-09-19 | 2003-04-02 | Sanyo Electric Co Ltd | Laser beam welding method and laser beam welding apparatus |
| JP2004216418A (en) * | 2003-01-14 | 2004-08-05 | Komatsu Ltd | Laser beam machine |
| CN102179599A (en) * | 2011-04-01 | 2011-09-14 | 清华大学 | Underwater welding local mask with welding line tracking function |
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