基于对象特征分析的焊缝识别视觉传感技术

不同于以往将自动化焊接的视觉传感技术分为主动视觉、被动视觉或一维、二维、三维视觉，根据焊接视觉传感所提取的对象信息（特征），提出一种新的对焊缝识别视觉传感技术的分类思路，该分类将已有的视觉传感方法分为以下二类：基于待焊工件的宏观三维结构特征的视觉传感，以及基于待焊工件区域光学特征的视觉传感。在上述分类思想的指导下，根据待焊工件（尤其是多层多道焊缝）具有明显纹理特征的特点，提出了基于纹理分析的待焊区识别方法，该方法利用待焊区的一个以往不被关注的但又十分明显的特征实现待焊区的自动识别。

Study of vision sensing technology in seam recognition based on analyzing target feature

A new classification of the vision sensing technology in seam recognition is proposed based on the feature of the target. It is different from the two kinds of usual classification:passive vision and active vision, or one-dimensional, two-dimensional and three-dimensional vision.According to this classification, the existing methods of seam vision sensing are separated into two classes: vision sensing based on the macroscopical three-dimensional structure feature of workpiece, and vision sensing based on the local optical feature of the workpiece.Furthermore, with this classification, a new method of seam recognition based on texture analyzing is proposed, according to the obvious texture feature of the seam especially in the multilayer welding and the multipass welding.In this method, the texture feature of the seam, which is obvious but ignored before, is analyzed and utilized to recognize the seam automatically.