中国激光, 2020, 47 (7): 0702002, 网络出版: 2020-07-10   

基于方向梯度直方图粒子滤波的V型焊缝跟踪 下载: 859次

V-Shaped Seam Tracking Based on Particle Filter with Histogram of Oriented Gradient
作者单位
天津科技大学电子信息与自动化学院, 天津 300222
摘要
针对自动焊接过程中焊缝跟踪因受弧光、飞溅等噪声干扰而导致跟踪精度低的问题,提出了一种基于方向梯度直方图(Hog)粒子滤波的V型焊缝跟踪算法。Hog具有良好的几何和光学形变不变性,所提算法用它来描述焊缝激光条纹在拐点处的方向性特征。本算法首先通过提取焊缝目标区域的Hog建立目标模板,然后利用焊缝序列图像位置信息的连续性预测焊缝的候选状态,再通过粒子采样计算候选状态下的Hog特征,并将其与目标模板进行相似度计算,得到最优的焊缝位置,实现焊缝的跟踪。对典型的V型焊缝图像进行了跟踪实验,实验结果显示:所提算法在有强烈弧光、飞溅等噪声干扰的环境下,能够准确定位焊缝的目标位置,跟踪误差小于0.24 mm。
Abstract
This study proposes a V-shaped seam tracking algorithm based on particle filter with a histogram of oriented gradient (Hog) to address the problem of accuracy loss due arc light, spatter, and other noises in the process of weld tracking. The Hog has good invariance in geometric and optical deformation, and it is used to describe the directionality of the laser stripe at the flex point. The Hog of the target region of the weld seam is extracted to establish the target template. The candidate region state of the weld seam is predicted by the continuity of the position information of the weld seam image sequence. The Hog feature of the candidate region state is calculated through particle sampling. The similarity in the features of the candidate state and the target template is calculated, the optimal weld position is then obtained, and the weld seam tracking is realized. The tracking experiment of typical V-shaped weld image is performed. Experimental results show that the proposed algorithm can accurately locate the target position of weld under the environment of strong arc light, splash and other noise interferences, and the tracking error is less than 0.24 mm.

杨国威, 闫树明, 王以忠. 基于方向梯度直方图粒子滤波的V型焊缝跟踪[J]. 中国激光, 2020, 47(7): 0702002. Yang Guowei, Yan Shuming, Wang Yizhong. V-Shaped Seam Tracking Based on Particle Filter with Histogram of Oriented Gradient[J]. Chinese Journal of Lasers, 2020, 47(7): 0702002.

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