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首页> 外文期刊>IEEE transactions on industrial informatics >Unsupervised Recognition and Characterization of the Reflected Laser Lines for Robotic Gas Metal Arc Welding
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Unsupervised Recognition and Characterization of the Reflected Laser Lines for Robotic Gas Metal Arc Welding

机译：机器人气体金属电弧焊反射激光线的无监督识别与表征

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摘要

Unsupervised recognition of the reflected laser lines from the arc-light-modified background is prerequisite for the subsequent measurement and characterization of the weld pool shape, which is of great importance for the modeling and control of robotic arc welding. To facilitate the unsupervised recognition, the reflected laser lines need to be segmented as accurate as possible, which requires the segmented laser lines to be as continuous as possible to decrease the adverse effect of the noise blobs. In this paper, the intensity distribution caused by the arc light in the captured image is modeled. Based on the model, an efficient and robust approach is proposed, and it comprises six parts: reduction of the uneven image background by a difference operation, spline enhancement to remove the fuzziness, a gradient detection filter to eliminate the uneven background further, segmentation by an effective threshold selection method, removal of the noise blobs adaptively, and clustering based on the online computed slope of the laser line. After the laser line is clustered, a second-order polynomial is fitted to it. Finally, the weld pool is characterized by the parameters of the clustered laser line and its fitted polynomial. Experimental results verified that the proposed approach for unsupervised reflected laser line recognition is significantly superior to the state-of-the-art approach in terms of recognition accuracy.
机译：无监督地识别来自电弧光修改过的背景的反射激光线是后续测量和表征焊缝形状的先决条件，这对于机器人电弧焊的建模和控制非常重要。为了促进无监督识别，反射的激光线需要尽可能精确地分段，这要求分段的激光线尽可能连续，以减少噪声斑点的不利影响。在本文中，对由捕获图像中的弧光引起的强度分布进行了建模。在该模型的基础上，提出了一种有效而鲁棒的方法，它包括六个部分：通过差分操作减少不均匀图像背景，通过样条增强来消除模糊性，使用梯度检测滤波器进一步消除不均匀背景，通过分割进行分割。一种有效的阈值选择方法，自适应地消除噪声斑点，并基于在线计算出的激光线斜率进行聚类。在将激光线聚类之后，将二阶多项式拟合到它。最后，熔池的特征在于聚类激光线的参数及其拟合的多项式。实验结果证明，所提出的无监督反射激光线识别方法在识别准确度方面明显优于最新方法。

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