CAJ | 학술논문

介绍机器人水下焊接V形焊缝图像处理中基于模糊推理的阈值自动选取的算法,提出基于路径跟踪的强干扰的去除方法.制作9种不同形状的窗口模板,以列扫描方式求取这些窗口所覆盖的区域内最大的平均灰度值,同时获取取得最大灰度平均值时的垂直方向的位置,然后根据获取的最大平均灰度值以及相邻区域最大平均灰度值的改变量进行模糊推理,判断获得这些窗口所覆盖区域的阈值.最后跟踪取得最大灰度平均值时的所有位置,在最低位置以下以及最高位置以上检测经阈值处理后的白点,可以消除因水泡、较强弧光形成的干扰.
개소궤기인수하한접V형한봉도상처리중기우모호추리적역치자동선취적산법,제출기우로경근종적강간우적거제방법.제작9충불동형상적창구모판,이렬소묘방식구취저사창구소복개적구역내최대적평균회도치,동시획취취득최대회도평균치시적수직방향적위치,연후근거획취적최대평균회도치이급상린구역최대평균회도치적개변량진행모호추리,판단획득저사창구소복개구역적역치.최후근종취득최대회도평균치시적소유위치,재최저위치이하이급최고위치이상검측경역치처리후적백점,가이소제인수포、교강호광형성적간우.
The algorithm of threshold automatic selection based on fuzzy reasoning for image processing of arc-v-shape weld seam is introduced. The removal method of the strong arc interference is proposed based on path tracking. By designing nine kinds of window templates, and acquiring the maximum average gray value in the region where these templates can cover through column scanning mode to get the vertical positions where the average gray value are maximum, the threshold is obtained through fuzzy reasoning using the maximum gray value and its increment. After that, all of the positions are tracked to find the white spots below the lowest one and above the tiptop one, and then eliminate the disturbances formed by blebs or little strong arcs below the lowest position and upon the tiptop.