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发表于 2021-11-17 18:08:47
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The application of Kalman filtering for the weld detection in the arc welding process is presented. A Kalman filter is applied for processing the arc weld pool images from a visual sensor to recursively compute the solution to the weld position equations which are established based on an estimation of the position and displacement of the centroid of the weld pool images. 提出一种基于卡尔曼滤波技术的电弧焊焊缝检测新方法。利用视觉传感器获取弧焊区熔池图像,并抽取图像质心作为描述焊缝位置的特征矢量,建立图像质心状态方程和测量方程。在有色噪声模型的基础上,应用卡尔曼滤波对图像质心位置和质心位移进行状态估计,得到最小均方差条件下的焊缝位置最佳预测值,从而减小过程噪声和测量噪声引起的焊缝位置测量偏差,实现弧焊过程中焊缝位置的精确检测。
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