CN105149824B - Method for automatically identifying underwater welding seams - Google Patents
Method for automatically identifying underwater welding seams Download PDFInfo
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- CN105149824B CN105149824B CN201510642798.4A CN201510642798A CN105149824B CN 105149824 B CN105149824 B CN 105149824B CN 201510642798 A CN201510642798 A CN 201510642798A CN 105149824 B CN105149824 B CN 105149824B
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- 238000003466 welding Methods 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 58
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 26
- 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
- 238000012546 transfer Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 229910052736 halogen Inorganic materials 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 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
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000003709 image segmentation Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
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- 238000004458 analytical method Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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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 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
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Abstract
The invention relates to a method for automatically identifying underwater welding seams. The method comprises the following steps: (1) providing an automatic identification system for underwater welding seams; (2) using the system for identification. The identification system comprises an underwater light source, an underwater camera, control equipment and wireless communication equipment, wherein the underwater light source is used for providing a light source for underwater shooting of the underwater camera, and the underwater camera is used for shooting the welding image of an underwater workpiece when being welded; the control equipment is connected with the underwater camera and used for performing image processing for the welding image so as to identify the workpiece welding seams in the welding image, and the wireless communication equipment is positioned on the water, is connected with the control equipment through an underwater cable, and is used for receiving the workpiece welding seams and wirelessly sending the workpiece welding seams to a marine computer.
Description
The present invention is that the Application No. 201510035530.4, applying date is on January 24th, 2015, entitled " one kind
The divisional application of the patent of underwater weld automatic identifying method ".
Technical field
A kind of the present invention relates to Underwater Welding field, more particularly to underwater weld automatic identifying method.
Background technology
Underwater Welding is indispensable important process means during the installation, maintenance of Underwater Engineering Structure is constructed.This work
Skill means Jing are commonly used for the work progress of the ocean engineerings such as marine salvage, marine energy, marine mining and 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, weld the control of the determination and welding operation in gap, such remote controlled manner facilitates operating personnel not
Lower water is needed to operate in person, you can to complete whole Underwater Welding operating process.Wherein, the weld seam recognition of welded part is closed very much
Key, is related to 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 by virtue of experience determine position while welding by watching workpiece image, manipulate welding equipment under water, carry out according to position while welding
Welding.But, there is following drawback in this RM：(1) as underwater environment is severe, the workpiece image that remote transmission comes
It is often smudgy, affect the judgement of position while welding；(2) as workpiece image is transmitted without image procossing, transmission
Data volume it is bigger than normal, and valid data are less；(3) Underwater Camera wastes limited underwater power source always in shooting state.
Accordingly, it would be desirable to a kind of underwater weld automatic identifying method, can be carried out to the workpiece image that Underwater Camera shoots
Effective process, recognizes the image related to welding gap, and the only transmission image related to welding gap, meanwhile, it is capable to
Set up the power saving administrative mechanism of underwater camera equipment.
The content of the invention
In order to solve the above problems, the invention provides a kind of underwater weld automatic identifying method, transform it is existing under water
Weld seam recognition system, for severe underwater environment, the various corresponding image processing techniques of reference are automatically identified clearly welds
Slot image is connect, the welding slot image for only recognizing to transmission waterborne, and, ultrasonic detection technology is introduced, water is ensured
Lower picture pick-up device only just starts underwater camera operation in the case of near welding workpiece, so as to improve 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 identifying method, the method comprise the following steps：
1) a kind of underwater weld automatic recognition system is provided, the identifying system include underwater light source, Underwater Camera, control device and
Wireless Telecom Equipment, the underwater light source are used for providing light source, the underwater camera for the underwater photograph technical of the Underwater Camera
For shooting welding image when workpiece is soldered under water, the control device is connected machine with the Underwater Camera, for right
The welding image performs image procossing, to identify the workpiece weld seam in the welding image, the Wireless Telecom Equipment position
In waterborne, it is connected with the control device by submerged cable, to receive the workpiece weld seam will be the workpiece weld seam wireless
It is sent to computer waterborne；And 2) using the system recognizing.
More specifically, in the 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 plane, the fixed transverse rod is just right
The workpiece under water is placed；Driving equipment, is connected with the fixed transverse rod, for driving the fixed transverse rod to the work under water
Part is moved；Static storage device, for prestoring ultrasonic underwater transfer rate, relative distance threshold value and percentage threshold；
Ultrasonic distance detecting devices, just to the workpiece under water place, including RS-232 serial communication interfaces, ultrasonic transmitter,
Ultrasonic receiver and microcontroller, the ultrasonic transmitter are for launching ultrasonic signal to the workpiece under water, described
Ultrasonic receiver is used for receiving the ultrasonic signal that workpiece is fired back under water, the microcontroller and the ultrasonic wave
Transmitter, the ultrasonic receiver and the static storage device connect respectively, super according to ultrasonic transmitter transmitting
Time difference between acoustic signals and the ultrasonic receiver received ultrasonic signal and ultrasonic underwater transmission speed
Rate calculates the relative distance of the workpiece apart from the ultrasonic distance detecting devices under water, and be less than in the relative distance etc.
Startup being sent when the relative distance threshold value and shooting signal, the RS-232 serial communication interfaces are connected with the microcontroller
Connect, sent with serial communication mode for the relative distance and the startup are shot signal；The underwater light source is
Halogen tungsten lamp light source, is connected with the ultrasonic distance detecting devices, when the startup shooting signal is received, is started to described
The floor light of workpiece under water；The Underwater Camera is high-definition camera, is connected with the ultrasonic distance detecting devices, when
When receiving the startup shooting signal, start the shooting of the welding image to the workpiece under water, the high-definition camera
Resolution ratio is 1280 × 720；The control device includes single-chip microcomputer and four pieces of fpga chips；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, the wavelet filtering unit
Be connected with the Underwater Camera, for wavelet filtering being performed to the welding image based on Harr wavelet filters, filtered
Ripple image, the gray processing processing unit are connected with the wavelet filtering unit, for performing gray processing to the filtering image
Process, obtain gray level image, the threshold value determination unit is connected with the gray processing processing unit, selected between 0-255 one by one
Each gray value as candidate's gray value threshold value, the gray level image is divided into into target ash using candidate's gray value threshold value
Degree image and background gray level image, and count the grey scale pixel value between the target gray image and the background gray level image
Variance, takes the maximum candidate's gray value threshold value of the grey scale pixel value variance as target gray value threshold value, described image segmentation
Unit is connected with the threshold value determination unit and the gray processing processing unit, based on the target gray value threshold value by the ash
Degree image is divided into target gray image and background gray level image, the target gray that will be arrived based on the target gray value Threshold segmentation
Image is exported as the workpiece weld seam in the welding image；It is the single-chip microcomputer and the ultrasonic distance detecting devices, described
Image segmentation unit and the Underwater Camera connect respectively, to the welding image perform Moving Picture Experts Group-2 compression of images with
Compression welding image is generated, and the relative distance, the workpiece weld seam and the compression welding image are transmitted to into the nothing
Line communication equipment；The Wireless Telecom Equipment is connected respectively with the driving equipment and the single-chip microcomputer, wireless receiving meter waterborne
The drive control signal that calculation machine sends, and the drive control signal is transmitted to into the driving equipment, to control the fixation
The relative distance, the workpiece weld seam and the compression welding image are also wirelessly sent to institute by position of the cross bar in water
State computer waterborne；Wherein, the single-chip microcomputer is also connected respectively with the threshold value determination unit and the static storage device, with
When own resource occupancy is below percentage threshold, all operationss for performing the threshold value determination unit are replaced, at itself
When resources occupation rate is more than percentage threshold, terminate the replacement of all operationss to the threshold value determination unit.
More specifically, in the underwater weld automatic recognition system, the microcontroller is more than in the relative distance
End is sent during the relative distance threshold value shoots signal.
More specifically, in the underwater weld automatic recognition system, the underwater light source ought receive the end and clap
When taking the photograph signal, stop the floor light to the workpiece under water.
More specifically, in the underwater weld automatic recognition system, the Underwater Camera ought receive the end
When shooting signal, stop the shooting of the welding image to the workpiece under water.
More specifically, in the underwater weld automatic recognition system, by the control device, the static storage device
It is integrated on one piece of surface-mounted integrated circuit with the driving equipment, and the surface-mounted integrated circuit is enclosed in waterproof case.
More specifically, in the underwater weld automatic recognition system, the underwater light source, the Underwater Camera and institute
State ultrasonic distance detecting devices and there is waterproof case respectively.
Description of the drawings
Embodiment of the present invention is described below with reference to accompanying drawing, 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.
As the day of land resources is becoming tight, 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, so that obtain more economic benefits.
Traditional under-water welding is connected to three kinds of dry method, wet method and local dry cavity.Dry method welding is to cover weldering using large-scale air chamber
Part, welding operation personnel are welded in air chamber, have the advantages that security 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 is artificially arranged the water around weld zone, this side
Formula application is more, but security is not high.Local dry cavity welding is welding operation personnel welding in water, but artificially by weld zone
The water of surrounding is arranged, 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
Journey manipulation welding equipment finds weld seam, performs welding operation, and 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 and provide effective foundation for operating personnel's remote operation, in addition, passing through ultrasonic 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 for 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, the knowledge
Other system includes：Underwater light source 1, Underwater Camera 2, control device 3, Wireless Telecom Equipment 4 and power supply equipment 5, it is described
Control device 3 and the underwater light source 1, the Underwater Camera 2, the Wireless Telecom Equipment 4 and the power supply equipment 5
Connect respectively.
Wherein, the underwater light source 1 is used for providing light source for the underwater photograph technical of the Underwater Camera 2, described to take the photograph under water
Camera 2 is used for shooting welding image when workpiece is soldered under water, and the control device 3 is for performing figure to the welding image
As processing, to identify the workpiece weld seam in the welding image, the Wireless Telecom Equipment 4 be located at it is waterborne, by electricity under water
Cable is connected with the control device 3, to receive the workpiece weld seam and the workpiece weld seam be wirelessly sent to computer waterborne,
The power supply equipment 5 provides electric power confession for the underwater weld automatic recognition system under the control of the control device 3
Should.
Then, continue to be further detailed the concrete structure of the underwater weld automatic recognition system of the present invention.
The 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 plane, and the fixed transverse rod is just placed to the workpiece under water.
The identifying system also includes：Driving equipment, is connected with the fixed transverse rod, for drive the fixed transverse rod to
The movement of workpiece under water.
The identifying system also includes：Static storage device, for prestore ultrasonic underwater transfer rate, it is relative away from
From threshold value and percentage threshold.
As shown in Fig. 2 the identifying system also includes：Ultrasonic distance detecting devices, just places to the workpiece under water,
Including RS-232 serial communication interfaces 7, ultrasonic transmitter 8, ultrasonic receiver 9 and microcontroller 6, the ultrasonic wave transmitting
For launching ultrasonic signal to the workpiece under water, the ultrasonic receiver 9 is used for receiving the transmitting of workpiece under water device 8
The ultrasonic signal returned, the microcontroller 6 and the ultrasonic transmitter 8, the ultrasonic receiver 9 and the static state
Storage device connects respectively, launches ultrasonic signal according to the ultrasonic transmitter 8 and the ultrasonic receiver 9 receives super
Time difference between acoustic signals and the ultrasonic underwater transfer rate calculate described under water workpiece apart from the ultrasonic wave
The relative distance of object detecting apparatus, and startup shooting is sent when the relative distance is less than or equal to the relative distance threshold value
Signal, the RS-232 serial communication interfaces 7 are connected with the microcontroller 6, for by the relative distance and the startup
Shoot signal to send with serial communication mode.
The underwater light source 1 is halogen tungsten lamp light source, be connected with the ultrasonic distance detecting devices, is opened described in receive
During dynamic shooting signal, start the floor light to the workpiece under water.
The Underwater Camera 2 is high-definition camera, is connected with the ultrasonic distance detecting devices, described when receiving
When starting shooting signal, start the shooting of the welding image to the workpiece under water, the resolution ratio of the high-definition camera is
1280×720。
The control device 3 includes single-chip microcomputer and four pieces of fpga chips；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, the wavelet filtering unit and the water
Lower video camera 2 connects, and for performing wavelet filtering to the welding image based on Harr wavelet filters, obtains filtering image,
The gray processing processing unit is connected with the wavelet filtering unit, is processed for performing gray processing to the filtering image, is obtained
Obtain gray level image.
The threshold value determination unit is connected with the gray processing processing unit, selects each ash between 0-255 one by one
The gray level image is divided into target gray image and the back of the body as candidate's gray value threshold value using candidate's gray value threshold value by angle value
Scape gray level image, and the grey scale pixel value variance between the target gray image and the background gray level image is counted, take institute
The maximum candidate's gray value threshold value of grey scale pixel value variance is stated as target gray value threshold value, described image cutting unit with it is described
The gray level image is divided into by threshold value determination unit and gray processing processing unit connection based on the target gray value threshold value
Target gray image and background gray level image, using the target gray image arrived based on the target gray value Threshold segmentation as institute
State the workpiece weld seam output in welding image.
The single-chip microcomputer and the ultrasonic distance detecting devices, described image cutting unit and the Underwater Camera 2
Connect respectively, the compression of images of Moving Picture Experts Group-2 is performed to the welding image to generate compression welding image, and by the phase
Adjust the distance, the workpiece weld seam and the compression welding image are transmitted to the Wireless Telecom Equipment 4.
The Wireless Telecom Equipment 4 is connected respectively with the driving equipment and the single-chip microcomputer, wireless receiving calculating waterborne
The drive control signal that machine sends, and the drive control signal is transmitted to into the driving equipment, it is described fixed horizontal to control
The relative distance, the workpiece weld seam and the compression welding image are also wirelessly sent to described by position of the bar in water
Computer waterborne.
Wherein, the single-chip microcomputer is also connected respectively with the threshold value determination unit and the static storage device, with certainly
When body resources occupation rate is below percentage threshold, all operationss for performing the threshold value determination unit are replaced, in own resource
When occupancy is more than percentage threshold, terminate the replacement of all operationss to the threshold value determination unit.
Wherein, in the identifying system, the microcontroller 6 can with the relative distance more than it is described it is relative away from
From threshold value when send end shoot signal, the underwater light source 1 when receive it is described terminate shoot signal when, can stop to institute
The floor light of workpiece under water is stated, the Underwater Camera 2 can stop to described when the end shooting signal is received
The shooting of the welding image of workpiece under water, and the control device 3, the static storage device and the driving can be set
It is standby to be integrated on one piece of surface-mounted integrated circuit, and the surface-mounted integrated circuit is enclosed in waterproof case, the underwater light source 1, institute
State Underwater Camera 2 and the ultrasonic distance detecting devices has waterproof case respectively.
In addition, small echo, i.e. Wavelet, it is exactly zonule, limited length, the waveform that average is 0.So-called " little " refers to it
With Decay Rate；And be referred to as " ripple " and then refer to its fluctuation, the concussion form of its amplitude alternate positive and negative.Become with Fourier
Commutation ratio, wavelet transformation are the localization analyses 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 adapt to automatically time frequency signal analysis
Requirement, so as to 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 has had several at present, but has all been in rs-232 standard through using and developing
On the basis of through improvement and formed.RS-232C standards are U.S. EIA (Electronic Industries Association) together with the company such as BELL
The communication protocol that 1969 of exploitation are announced.He is suitable for communication of the message transmission rate in the range of 0～20000b/s.This
Relevant issues of the standard to serial communication interface, 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 compatibles, therefore, he is connect in microcomputer communication at present as a kind of standard
It is widely used in mouthful.
RS-232-C is that EIA EIA (Electronic Industry Association) is formulated
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 standards are provided with 25 signal lines, including a main channel and an accessory channel.It is main as a rule to use
Main channel, for general duplex communication, it is only necessary to which several signal lines achieve that such as one sends line, a reception line and one
Ground wire.
The message transmission rate that RS-232-C standards specify be 50,75,100,150,300,600,1200,2400,4800,
9600th, 19200,38400 baud.RS-232-C standards specify that 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 is 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 RS-232 category single-ended signal transmission, exists and makes an uproar altogether
Sound and the problems such as be unable to suppression common mode and disturb, therefore the communication being generally used within 20m.
It is using the underwater weld automatic recognition system of the present invention, not high for existing underwater weld recognition mode accuracy of identification
Cause the technical problem of welding effect difference, on the one hand, by image procossing mode being introduced to welding image, especially introduce for scheming
As the threshold value selection mechanism of background segment, the degree of accuracy of welding gap identification is improved, on the other hand, introduce ultrasonic distance detection
Mechanism just starts shooting operation only in closer distance to guarantee Underwater Camera, in the effective of the welding image for 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, under without departing from technical solution of the present invention ambit,
Many possible variations and modification are made to technical solution of the present invention using the technology contents of the disclosure above all, or are revised as
With the Equivalent embodiments of 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, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (1)
1. 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, the identifying system includes that underwater light source, Underwater Camera, control set
Standby and Wireless Telecom Equipment, the underwater light source are used for providing light source for the underwater photograph technical of the Underwater Camera, it is described under water
For shooting welding image when workpiece is soldered under water, the control device is connected video camera with the Underwater Camera, is used
In image procossing is performed to the welding image, to identify the workpiece weld seam in the welding image, the radio communication sets
It is standby to be located at waterborne, it is connected with the control device by submerged cable, to receive the workpiece weld seam and by the workpiece weld seam
It is wirelessly sent to computer waterborne；And
2) using the identifying system recognizing；
The identifying system also includes：
Fixed transverse rod, is erected in water, for ultrasonic distance detecting devices, underwater light source and Underwater Camera are fixed on together
On one vertical plane, the fixed transverse rod is just placed to the workpiece under water；
Driving equipment, is connected with the fixed transverse rod, for driving the fixed transverse rod to move to the workpiece under water；
Static storage device, for prestoring ultrasonic underwater transfer rate, relative distance threshold value and percentage threshold；
Ultrasonic distance detecting devices, just places to the workpiece under water, including RS-232 serial communication interfaces, ultrasonic wave transmitting
Device, ultrasonic receiver and microcontroller, the ultrasonic transmitter is for the workpiece under water transmitting ultrasonic signal, institute
Ultrasonic receiver is stated for receiving the ultrasonic signal that workpiece is fired back under water, the microcontroller and the ultrasound
Wave launcher, the ultrasonic receiver and the static storage device connect respectively, are launched according to the ultrasonic transmitter
Time difference between ultrasonic signal and the ultrasonic receiver received ultrasonic signal and ultrasonic underwater transmission
Relative distance of the workpiece apart from the ultrasonic distance detecting devices under water described in rate calculations, and be less than in the relative distance
Startup being sent during equal to the relative distance threshold value and shooting signal, the RS-232 serial communication interfaces are connected with the microcontroller
Connect, sent with serial communication mode for the relative distance and the startup are shot signal；
The underwater light source is halogen tungsten lamp light source, is connected with the ultrasonic distance detecting devices, is clapped when described startup is received
When taking the photograph signal, start the floor light to the workpiece under water；
The Underwater Camera is high-definition camera, is connected with the ultrasonic distance detecting devices, when receiving the startup
When shooting signal, starting the shooting to the welding image of the workpiece under water, the resolution ratio of the high-definition camera is 1280 ×
720；
The control device includes single-chip microcomputer and four pieces of fpga chips；
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, the wavelet filtering unit is connected with the Underwater Camera, for little based on Harr to the welding image
Wave filter performs wavelet filtering, obtains filtering image, and the gray processing processing unit is connected with the wavelet filtering unit, uses
Processing in gray processing being performed to the filtering image, obtaining gray level image, the threshold value determination unit is processed with the 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
The gray level image is divided into into target gray image and background gray level image, and counts the target gray image and the back of the body
Grey scale pixel value variance between scape gray level image, takes the maximum candidate's gray value threshold value of the grey scale pixel value variance as mesh
Mark gray value threshold value, described image cutting unit are connected with the threshold value determination unit and the gray processing processing unit, are based on
The gray level image is divided into target gray image and background gray level image by the target gray value threshold value, will be based on the target
Gray value Threshold segmentation to target gray image as in the welding image workpiece weld seam export；
The single-chip microcomputer is connected respectively with the ultrasonic distance detecting devices, described image cutting unit and the Underwater Camera
Connect, perform the compression of images of Moving Picture Experts Group-2 to the welding image to generate compression welding image, and by the relative distance,
The workpiece weld seam and the compression welding image are transmitted to the Wireless Telecom Equipment；
The Wireless Telecom Equipment is connected respectively with the driving equipment and the single-chip microcomputer, and wireless receiving computer waterborne sends
Drive control signal, and the drive control signal is transmitted to into the driving equipment, to control the fixed transverse rod in water
In position, the relative distance, the workpiece weld seam and the compression welding image are wirelessly sent to into the meter waterborne also
Calculation machine；
Wherein, the single-chip microcomputer is also connected respectively with the threshold value determination unit and the static storage device, with itself money
When source occupancy is below percentage threshold, all operationss for performing the threshold value determination unit are replaced, taken in own resource
When rate is more than percentage threshold, terminate the replacement of all operationss to the threshold value determination unit；
The control device, the static storage device and the driving equipment are integrated on one piece of surface-mounted integrated circuit, and will
The surface-mounted integrated circuit is enclosed in waterproof case；
The underwater light source, the Underwater Camera and the ultrasonic distance detecting devices have waterproof case respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN201510642798.4A CN105149824B (en) | 2015-01-24 | 2015-01-24 | Method for automatically identifying underwater welding seams |
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| CN105234597A (en) * | 2015-01-24 | 2016-01-13 | 宋健 | Automatic underwater weld joint recognition method |
| CN106077889A (en) * | 2015-08-04 | 2016-11-09 | 李小春 | The underwater robot processed based on multiple filter |
| CN104985290A (en) * | 2015-08-04 | 2015-10-21 | 梁彦云 | Neural-network-identification-based underwater weld joint tracking method |
| CN105855754A (en) * | 2015-08-04 | 2016-08-17 | 李勇妹 | Portable system for diver |
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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 |
| CN202435524U (en) * | 2011-12-28 | 2012-09-12 | 中国海洋石油总公司 | Underwater welding monitoring device |
| CN102903406B (en) * | 2012-10-12 | 2016-03-16 | 中广核检测技术有限公司 | Nuclear power plant reactor pressure vessel video checking system |
| 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 |
| 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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