海底管道干式高压焊接跟踪轨迹的识别

干式高压TIG焊接法是海底输油(气)破损管道修复所用的重要的、焊接质量较高的连接方法,而自动化焊接又是解决潜水员焊接效率低下的有效途径,焊缝跟踪技术则是保证焊接过程正常进行和焊缝质量的关键技术.设计了能克服环境压力影响的CCD图像摄取装置,研究了一套焊缝跟踪路径识别算法.运用直方图均衡化方法强化坡口与非坡口的差别,增加焊缝图像的理解性.提出了以图像灰度最低值拟合成的曲线将整个图像分为两个部分的图像分解法,提高了图像识别目标的焊缝坡口部分所占的比重,有利于二值化阈值的选取.采用基于数学形态学的二值图像边界识别方法分离出焊缝边界,用Hough变换法确定坡口边线位置,最后用图像分解逆过程经合并后识别出坡口所在的位置.所提出的方法组合后抗干扰能力强,计算速度快,为进一步实现自动化焊接奠定了基础.

Route recognition algorithm in hyperbaric subsea pipe welding

The hyperbaric TIG welding is the most quality reliable joining method for damaged underwater pipeline.The automatic welding is the most effective way to improve the welding efficiency.The welding seam tracking algorithm is the key technology to ensure the working procedure and its quality. The specially designed CCD system is capable of working in high pressure chamber.A set of route detecting algorithm was developed.To better understanding the weld image,the histogram equalization method was used aiming at enlarging the difference between groove and other area.An outstanding image segmentation method was proposed and used to increase the target ratio and was better to the threshold selecting.A binary image edge detecting algorithm based on morphology was used to separate the welding edge and then the Hough transform was used to pick the tracking route accurately.