摘要
针对激光视觉传感的焊缝跟踪过程,利用中值滤波平滑焊缝激光视觉传感图像,使用灰度重心法获得激光条纹中心线,根据激光条纹中心线定位焊缝中心位置。针对有色观测噪声,利用扩充状态向量的卡尔曼滤波算法产生粒子采样的提议分布函数,结合粒子滤波算法对焊缝中心位置进行最优估计。结果表明,卡尔曼-粒子滤波算法能有效抑制有色观测噪声的影响并提高焊缝跟踪精度。
During the laser vision based seam tracking process,a median filter is utilized to smooth the weld seam laser stripe image.A thinned image is obtained using intensity gravity method,and the seam center position is calculated using the thinned laser stripe image.The measurement noise is assumed to be colored noise,and Kalman filter algorithm with augmented state variables is utilized to generate the proposed distribution of particle filter method.The particle filter method is applied to estimate the optimal seam center position.A seam tracking experiment suggests that the Kalman particle filter algorithm can restrain the impact of colored measurement noise and improve the accuracy of seam tracking.
作者
黎扬进
高向东
张艳喜
杜健准
孙友松
肖小亭
LI Yangjin;GAO Xiangdong;ZHANG Yanxi;DU Jianzhun;SUN Yousong;XIAO Xiaoting(Guangdong Provincial Welding Engineering Technology Research Center,Guangdong University of Technology,Guangzhou 510006,CHN)
出处
《制造技术与机床》
北大核心
2020年第12期106-109,共4页
Manufacturing Technology & Machine Tool
基金
国家自然科学基金资助项目(51675104)
广东省教育厅创新团队项目(2017KCXTD010)。
