基于卡尔曼滤波器的焊缝识别算法

摘要

为了提高工业现场焊缝跟踪的准确性和抗干扰能力，提出了一种基于约束卡尔曼滤波器的焊缝识别算法。采用结构光测量系统获取焊缝连续图像，然后利用形态学处理定位焊缝图像角点，并通过高斯拟合法提取激光条纹中心点，将角点和中心点的位置和速度作为卡尔曼滤波器的状态变量，建立卡尔曼滤波器的状态方程和测量方程，再由角点和中心点的位置关系构建等式约束方程，通过约束方程对卡尔曼滤波后的结果进行修正。结果表明该算法能有效实现焊缝跟踪，提高了焊缝识别的精度和抗干扰能力。%In order to improve the accuracy and robustness of seam tracking,a weld seam recognition algorithm was proposed based on constraint Kalman filter.Consecutive weld seam images were acquired with the structure light meas-ure system.Weld seam image corners were measured and located with morphological image processing and center points of laser stripe were extracted by Gaussian fitting method.Taking the position and speed of these corners and center points as the state variables of Kalman filter,the equations of state and the measurement were established.Then according to the position relationship between corners and center points,the state constraint equations were built,and then the results from the Kalman filter were corrected by the constraint equations.The experimental results show that the proposed algorithm could effectively track weld seam and improve the recognition accuracy and robustness.