CN104999200A - Diver portable system - Google Patents
Diver portable system Download PDFInfo
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- CN104999200A CN104999200A CN201510471064.4A CN201510471064A CN104999200A CN 104999200 A CN104999200 A CN 104999200A CN 201510471064 A CN201510471064 A CN 201510471064A CN 104999200 A CN104999200 A CN 104999200A
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- weld seam
- equipment
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- electrode holders
- diver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
The invention relates to a portable diver system based on Marr wavelet filtering, which comprises a head mounting support, a sharpening device and a welding line recognition device, wherein the sharpening device and the welding line recognition device are positioned on the head mounting support and are used for respectively performing scattered light elimination and welding line recognition on an underwater image. By the aid of the method and the device, more intelligent electronic auxiliary means can be provided for underwater welding of divers.
Description
Technical field
The present invention relates to wavelet filtering field, particularly relate to a kind of diver's portable system.
Background technology
In prior art, general employing diver carries welding equipment and goes to the position while welding of underwater installation to implement welding, the welding quality of underwater installation depends on Underwater Welding technique on the one hand, depend on accurate identification and the location of weld seam on the other hand, but, due to the complexity of underwater environment, scattered light serious interference under water, find weld seam by means of diver by naked eyes, reliability is not high, indirectly causes Underwater Welding quality unstable.
For this reason, need the weld seam Exact Location System that a kind of underwater diver can be worn, diver, various weld and HAZ device and even the automatic soldering device that can adapt to underwater environment are installed with it, the welding operation of liberation diver, remove scattered light interference under water, improve the accuracy of welding, thus ensure that underwater installation can stand on underwater for a long time.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides a kind of diver's portable system based on Marr wavelet filtering, utilize the weld seam recognition equipment butt welded seam comprising Marr wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment accurately to identify, and and then automatically complete welding operation.
According to an aspect of the present invention, provide a kind of diver's portable system based on Marr wavelet filtering, described portable system comprises head mounting bracket, sharpening treatment facility and weld seam recognition equipment, described sharpening treatment facility and described weld seam recognition equipment are all positioned on described head mounting bracket, eliminate and weld seam recognition process for performing scattered light to underwater picture respectively.
More specifically, also comprise: electrode holders based in diver's portable system of Marr wavelet filtering described, for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel, safety switch, its cathode conductor is connected to described electrode holders, earth clip, is fixed on workpiece to be welded, electric welding machine, negative pole is connected to described electrode holders, plus earth, electrode holders driving arrangement, is connected with described electrode holders, for driving described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders drive singal, electrode holders drive motors is a direct current generator, for the driving of described electrode holders driving arrangement to described electrode holders provides power, GPS positioning equipment, is arranged on buoy, provides supply of electric power by power supply equipment, for receiving the GPS locator data that gps satellite sends, sonar detection equipment, is arranged on buoy, provides supply of electric power by power supply equipment, for detecting the relative distance of described diver to buoy, and to adjust the distance output as first-phase, supersonic reflectoscope, is arranged on described head mounting bracket, for measuring the distance of described diver distance front weld seam, and to adjust the distance output as second-phase, portable hard drive, weld seam tonal range and all kinds of weld seam benchmark masterplate are prestored, described weld seam tonal range is used for the weld seam in image and background separation, and described all kinds of weld seam benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark weld seam, buoy, is arranged on the top water surface of described diver, power supply equipment, be arranged on described buoy, comprise waterproof sealing cover, solar powered device, battery, change-over switch and electric pressure converter, described waterproof sealing cover is for holding described solar powered device, described battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described battery, dump energy according to battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage, underwater photograph technical equipment, comprise hemispherical watertight transparent cover, floor light subset and CCD vision sensor, described hemispherical watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor to objects ahead shooting to obtain the underwater picture comprising objects ahead, described sharpening treatment facility is connected respectively with described CCD vision sensor, described supersonic reflectoscope and described floor light subset, adjust the distance and described floor light brightness to obtain described second-phase, and the scattered light composition removed with described floor light brightness and formed on objects ahead because floor light subset irradiates in described underwater picture of adjusting the distance based on described second-phase, to obtain sharpening underwater picture, described weld seam recognition equipment is connected respectively with described sharpening treatment facility and described portable hard drive, comprises Marr wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment, described Marr wavelet filtering subset is connected with described CCD vision sensor, for adopting the wavelet filtering process based on 2 rank Marr wavelet basis to described sharpening underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains wavelet filtering image, described medium filtering subset is connected with described Marr wavelet filtering subset, for performing medium filtering process to described wavelet filtering image, with the water particle scattering composition in wavelet filtering image described in filtering, obtains medium filtering image, described change of scale enhancer equipment is connected with described medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image, described Target Segmentation subset and described change of scale enhancer equipment connection, by all pixel composition weld seam subgraphs of grey scale pixel value in described enhancing image in described weld seam tonal range, described target recognin equipment is connected respectively with described Target Segmentation subset and described portable hard drive, mated one by one with all kinds of weld seam benchmark masterplate by described weld seam subgraph, welding type corresponding to output matching successful weld seam benchmark masterplate is as target welding type, ARM11 process chip, be arranged on described head mounting bracket, with described GPS positioning equipment, described sonar detection equipment, described supersonic reflectoscope, described treatment facility waterborne is connected respectively with described weld seam recognition equipment, for when receiving described target welding type, start described GPS positioning equipment, described sonar detection equipment and described supersonic reflectoscope are to receive described GPS locator data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GPS locator data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports weld and HAZ data, and by cable by described weld and HAZ data, described weld seam subgraph and described target welding type are transferred to described treatment facility waterborne, wherein, described ARM11 process chip when receiving described target welding type, according to the relative position determination electrode holders drive singal of weld seam subgraph image under water.
More specifically, described based in diver's portable system of Marr wavelet filtering: described ARM11 process chip, when not receiving described target welding type, closes described GPS positioning equipment, described sonar detection equipment and described supersonic reflectoscope.
More specifically, described based in diver's portable system of Marr wavelet filtering: described Marr wavelet filtering subset, described medium filtering subset, described change of scale enhancer equipment, described Target Segmentation subset and described target recognin equipment are integrated on one piece of surface-mounted integrated circuit.
More specifically, described based in diver's portable system of Marr wavelet filtering: described head mounting bracket arranges bucker, for holding described ARM11 process chip, described sharpening treatment facility and described weld seam recognition equipment.
More specifically, described based in diver's portable system of Marr wavelet filtering: described electrode holders, institute's safety switch, institute's earth clip, institute's electric welding machine, institute's electrode holders driving arrangement and institute's electrode holders drive motors are all arranged on described head mounting bracket.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the diver's portable system based on Marr wavelet filtering illustrated according to an embodiment of the present invention.
Reference numeral: 1 head mounting bracket; 2 sharpening treatment facilities; 3 weld seam recognition equipment
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the diver's portable system based on Marr wavelet filtering of the present invention is described in detail.
Current, for the diver being engaged in welding job, due to the particular surroundings of underwater operation, scattered light serious interference under water, be difficult to recognize position while welding accurately by naked eyes, meanwhile, in prior art, also lack the weld seam recognition equipment that can adapt to underwater operation environment, recognition of welding seam position is inaccurate, and the result of welding is naturally not ideal enough.
In order to overcome above-mentioned deficiency, the present invention has built a kind of diver's portable system based on Marr wavelet filtering, and the image recognition apparatus that can adapt to underwater environment by a series of, framing equipment complete the accurate identification work of underwater weld.
Fig. 1 is the block diagram of the diver's portable system based on Marr wavelet filtering illustrated according to an embodiment of the present invention, described portable system comprises head mounting bracket, sharpening treatment facility and weld seam recognition equipment, described sharpening treatment facility and described weld seam recognition equipment are all positioned on described head mounting bracket, eliminate and weld seam recognition process for performing scattered light to underwater picture respectively.
Then, continue to be further detailed the concrete structure of the diver's portable system based on Marr wavelet filtering of the present invention.
Described portable system also comprises: electrode holders, and for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel.
Described portable system also comprises: safety switch, and its cathode conductor is connected to described electrode holders.
Described portable system also comprises: earth clip, is fixed on workpiece to be welded.
Described portable system also comprises: electric welding machine, and negative pole is connected to described electrode holders, plus earth.
Described portable system also comprises: electrode holders driving arrangement, is connected with described electrode holders, for driving described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders drive singal.
Described portable system also comprises: electrode holders drive motors, is a direct current generator, for the driving of described electrode holders driving arrangement to described electrode holders provides power.
Described portable system also comprises: GPS positioning equipment, is arranged on buoy, provides supply of electric power by power supply equipment, for receiving the GPS locator data that gps satellite sends.
Described portable system also comprises: sonar detection equipment, is arranged on buoy, provides supply of electric power by power supply equipment, for detecting the relative distance of described diver to buoy, and to adjust the distance output as first-phase.
Described portable system also comprises: supersonic reflectoscope, is arranged on described head mounting bracket, for measuring the distance of described diver distance front weld seam, and to adjust the distance output as second-phase.
Described portable system also comprises: portable hard drive, weld seam tonal range and all kinds of weld seam benchmark masterplate are prestored, described weld seam tonal range is used for the weld seam in image and background separation, and described all kinds of weld seam benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark weld seam.
Described portable system also comprises: buoy, is arranged on the top water surface of described diver.
Described portable system also comprises: power supply equipment, be arranged on described buoy, comprise waterproof sealing cover, solar powered device, battery, change-over switch and electric pressure converter, described waterproof sealing cover is for holding described solar powered device, described battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described battery, dump energy according to battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage.
Described portable system also comprises: underwater photograph technical equipment, comprise hemispherical watertight transparent cover, floor light subset and CCD vision sensor, described hemispherical watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor to objects ahead shooting to obtain the underwater picture comprising objects ahead.
Described sharpening treatment facility is connected respectively with described CCD vision sensor, described supersonic reflectoscope and described floor light subset, adjust the distance and described floor light brightness to obtain described second-phase, and the scattered light composition removed with described floor light brightness and formed on objects ahead because floor light subset irradiates in described underwater picture of adjusting the distance based on described second-phase, to obtain sharpening underwater picture.
Described weld seam recognition equipment is connected respectively with described sharpening treatment facility and described portable hard drive, comprises Marr wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Described Marr wavelet filtering subset is connected with described CCD vision sensor, for adopting the wavelet filtering process based on 2 rank Marr wavelet basis to described sharpening underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains wavelet filtering image; Described medium filtering subset is connected with described Marr wavelet filtering subset, for performing medium filtering process to described wavelet filtering image, with the water particle scattering composition in wavelet filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer equipment is connected with described medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; Described Target Segmentation subset and described change of scale enhancer equipment connection, by all pixel composition weld seam subgraphs of grey scale pixel value in described enhancing image in described weld seam tonal range; Described target recognin equipment is connected respectively with described Target Segmentation subset and described portable hard drive, mated one by one with all kinds of weld seam benchmark masterplate by described weld seam subgraph, welding type corresponding to output matching successful weld seam benchmark masterplate is as target welding type.
Described portable system also comprises: ARM11 process chip, be arranged on described head mounting bracket, with described GPS positioning equipment, described sonar detection equipment, described supersonic reflectoscope, described treatment facility waterborne is connected respectively with described weld seam recognition equipment, for when receiving described target welding type, start described GPS positioning equipment, described sonar detection equipment and described supersonic reflectoscope are to receive described GPS locator data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GPS locator data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports weld and HAZ data, and by cable by described weld and HAZ data, described weld seam subgraph and described target welding type are transferred to described treatment facility waterborne, wherein, described ARM11 process chip when receiving described target welding type, according to the relative position determination electrode holders drive singal of weld seam subgraph image under water.
Alternatively, described based in diver's portable system of Marr wavelet filtering: described ARM11 process chip, when not receiving described target welding type, closes described GPS positioning equipment, described sonar detection equipment and described supersonic reflectoscope; Described Marr wavelet filtering subset, described medium filtering subset, described change of scale enhancer equipment, described Target Segmentation subset and described target recognin equipment are integrated on one piece of surface-mounted integrated circuit; Described head mounting bracket arranges bucker, for holding described ARM11 process chip, described sharpening treatment facility and described weld seam recognition equipment; Described electrode holders, institute's safety switch, institute's earth clip, institute's electric welding machine, institute's electrode holders driving arrangement and institute's electrode holders drive motors are all arranged on described head mounting bracket.
Alternatively, described Marr wavelet filtering subset, described medium filtering subset, described change of scale enhancer equipment, described Target Segmentation subset and described target recognin equipment are realized by different fpga chips respectively.
In addition, FPGA (Field-Programmable Gate Array), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, being burned onto fast on FPGA and testing, is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as decoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to designer with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (Complex Programmable LogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, single-chip microcomputer.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the operation in tandem of PC or single-chip microcomputer (no matter being von Neumann structure or Harvard structure).
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD gate is between several thousand to several ten thousand logical blocks, and FPGA normally arrives millions of several ten thousand.The main distinction of CPLD and FPGA is their system architecture.CPLD is a somewhat restrictive structure.This structure is arranged by the logical groups of one or more editable result sum and forms with the register of the locking of some relatively small amounts.Such result lacks editor's flexibility, but but have the time delay and logical block that can estimate to the advantage of linkage unit height ratio.And FPGA has a lot of linkage units, although allow him edit more flexibly like this, structure is complicated many.
Adopt the diver's portable system based on Marr wavelet filtering of the present invention, the technical problem of welding difficulty is caused for underwater complex environment in prior art, with the head mounting bracket of diver for apparatus carriers, introduce sharpening treatment facility and remove scattered light interference under water, weld seam recognition equipment targetedly of introducing accurately identifies position while welding, and transform underwater welding equipment to implement automatic welding, thus improve the automaticity of Underwater Welding.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. the diver's portable system based on Marr wavelet filtering, described portable system comprises head mounting bracket, sharpening treatment facility and weld seam recognition equipment, described sharpening treatment facility and described weld seam recognition equipment are all positioned on described head mounting bracket, eliminate and weld seam recognition process for performing scattered light to underwater picture respectively.
2., as claimed in claim 1 based on diver's portable system of Marr wavelet filtering, it is characterized in that, described portable system also comprises:
Electrode holders, for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel;
Safety switch, its cathode conductor is connected to described electrode holders;
Earth clip, is fixed on workpiece to be welded;
Electric welding machine, negative pole is connected to described electrode holders, plus earth;
Electrode holders driving arrangement, is connected with described electrode holders, for driving described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders drive singal;
Electrode holders drive motors is a direct current generator, for the driving of described electrode holders driving arrangement to described electrode holders provides power;
GPS positioning equipment, is arranged on buoy, provides supply of electric power by power supply equipment, for receiving the GPS locator data that gps satellite sends;
Sonar detection equipment, is arranged on buoy, provides supply of electric power by power supply equipment, for detecting the relative distance of described diver to buoy, and to adjust the distance output as first-phase;
Supersonic reflectoscope, is arranged on described head mounting bracket, for measuring the distance of described diver distance front weld seam, and to adjust the distance output as second-phase;
Portable hard drive, weld seam tonal range and all kinds of weld seam benchmark masterplate are prestored, described weld seam tonal range is used for the weld seam in image and background separation, and described all kinds of weld seam benchmark masterplate is for taking each obtained image in advance to all kinds of benchmark weld seam;
Buoy, is arranged on the top water surface of described diver;
Power supply equipment, be arranged on described buoy, comprise waterproof sealing cover, solar powered device, battery, change-over switch and electric pressure converter, described waterproof sealing cover is for holding described solar powered device, described battery, described change-over switch and described electric pressure converter, described change-over switch is connected respectively with described solar powered device and described battery, dump energy according to battery determines whether be switched to described solar powered device to be powered by described solar powered device, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage,
Underwater photograph technical equipment, comprise hemispherical watertight transparent cover, floor light subset and CCD vision sensor, described hemispherical watertight transparent cover is for holding described floor light subset and described CCD vision sensor, described floor light subset provides floor light for the underwater photograph technical of described CCD vision sensor, described CCD vision sensor to objects ahead shooting to obtain the underwater picture comprising objects ahead;
Described sharpening treatment facility is connected respectively with described CCD vision sensor, described supersonic reflectoscope and described floor light subset, adjust the distance and described floor light brightness to obtain described second-phase, and the scattered light composition removed with described floor light brightness and formed on objects ahead because floor light subset irradiates in described underwater picture of adjusting the distance based on described second-phase, to obtain sharpening underwater picture;
Described weld seam recognition equipment is connected respectively with described sharpening treatment facility and described portable hard drive, comprises Marr wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Described Marr wavelet filtering subset is connected with described CCD vision sensor, for adopting the wavelet filtering process based on 2 rank Marr wavelet basis to described sharpening underwater picture, with the Gaussian noise in underwater picture described in filtering, obtains wavelet filtering image; Described medium filtering subset is connected with described Marr wavelet filtering subset, for performing medium filtering process to described wavelet filtering image, with the water particle scattering composition in wavelet filtering image described in filtering, obtains medium filtering image; Described change of scale enhancer equipment is connected with described medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to described medium filtering image; Described Target Segmentation subset and described change of scale enhancer equipment connection, by all pixel composition weld seam subgraphs of grey scale pixel value in described enhancing image in described weld seam tonal range; Described target recognin equipment is connected respectively with described Target Segmentation subset and described portable hard drive, mated one by one with all kinds of weld seam benchmark masterplate by described weld seam subgraph, welding type corresponding to output matching successful weld seam benchmark masterplate is as target welding type;
ARM11 process chip, be arranged on described head mounting bracket, with described GPS positioning equipment, described sonar detection equipment, described supersonic reflectoscope, described treatment facility waterborne is connected respectively with described weld seam recognition equipment, for when receiving described target welding type, start described GPS positioning equipment, described sonar detection equipment and described supersonic reflectoscope are to receive described GPS locator data, described first-phase is adjusted the distance and described second-phase is adjusted the distance, based on described GPS locator data, described first-phase is adjusted the distance and described second-phase is adjusted the distance calculates and exports weld and HAZ data, and by cable by described weld and HAZ data, described weld seam subgraph and described target welding type are transferred to described treatment facility waterborne,
Wherein, described ARM11 process chip when receiving described target welding type, according to the relative position determination electrode holders drive singal of weld seam subgraph image under water.
3., as claimed in claim 2 based on diver's portable system of Marr wavelet filtering, it is characterized in that:
Described ARM11 process chip, when not receiving described target welding type, closes described GPS positioning equipment, described sonar detection equipment and described supersonic reflectoscope.
4., as claimed in claim 2 based on diver's portable system of Marr wavelet filtering, it is characterized in that:
Described Marr wavelet filtering subset, described medium filtering subset, described change of scale enhancer equipment, described Target Segmentation subset and described target recognin equipment are integrated on one piece of surface-mounted integrated circuit.
5., as claimed in claim 2 based on diver's portable system of Marr wavelet filtering, it is characterized in that:
Described head mounting bracket arranges bucker, for holding described ARM11 process chip, described sharpening treatment facility and described weld seam recognition equipment.
6., as claimed in claim 2 based on diver's portable system of Marr wavelet filtering, it is characterized in that:
Described electrode holders, institute's safety switch, institute's earth clip, institute's electric welding machine, institute's electrode holders driving arrangement and institute's electrode holders drive motors are all arranged on described head mounting bracket.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610301325.2A CN105855754A (en) | 2015-08-04 | 2015-08-04 | Portable system for diver |
| CN201610195683.XA CN105834618A (en) | 2015-08-04 | 2015-08-04 | Diver portable system |
| CN201510471064.4A CN104999200B (en) | 2015-08-04 | 2015-08-04 | Diver portable system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510471064.4A CN104999200B (en) | 2015-08-04 | 2015-08-04 | Diver portable system |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610301325.2A Division CN105855754A (en) | 2015-08-04 | 2015-08-04 | Portable system for diver |
| CN201610195683.XA Division CN105834618A (en) | 2015-08-04 | 2015-08-04 | Diver portable system |
| CN201610307544.1A Division CN105750775A (en) | 2015-08-04 | 2015-08-04 | Portable system for divers |
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| Publication Number | Publication Date |
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| CN104999200A true CN104999200A (en) | 2015-10-28 |
| CN104999200B CN104999200B (en) | 2016-08-24 |
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| CN201610195683.XA Pending CN105834618A (en) | 2015-08-04 | 2015-08-04 | Diver portable system |
| CN201510471064.4A Active CN104999200B (en) | 2015-08-04 | 2015-08-04 | Diver portable system |
| CN201610301325.2A Withdrawn CN105855754A (en) | 2015-08-04 | 2015-08-04 | Portable system for diver |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109765596A (en) * | 2018-12-30 | 2019-05-17 | 中国船舶重工集团公司第七一0研究所 | A kind of underwater navigation detection mobile terminal |
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| CN109016615A (en) * | 2018-06-12 | 2018-12-18 | 黄日新 | A kind of discarded copper pipe extruding reclaimer |
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| CN104794712A (en) * | 2015-04-16 | 2015-07-22 | 王爱云 | Single-pear-tree yield detecting system based on electronic identification |
| CN104808211A (en) * | 2014-12-12 | 2015-07-29 | 南阳理工学院 | Detector for measuring swimming path of fishes |
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| CN203599683U (en) * | 2013-11-05 | 2014-05-21 | 西安扩力机电科技有限公司 | Underwater welding monitoring system |
| CN104722976B (en) * | 2015-03-18 | 2016-08-17 | 哈尔滨工业大学（威海） | A kind of Underwater Welding training set and using method thereof |
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2015
- 2015-08-04 CN CN201610195683.XA patent/CN105834618A/en active Pending
- 2015-08-04 CN CN201510471064.4A patent/CN104999200B/en active Active
- 2015-08-04 CN CN201610301325.2A patent/CN105855754A/en not_active Withdrawn
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| JPH07284936A (en) * | 1994-04-19 | 1995-10-31 | Shinkurushima Dock:Kk | Plural member binding device and automatic welding system for the device |
| CN104215988A (en) * | 2014-09-27 | 2014-12-17 | 江苏华宏实业集团有限公司 | Underwater target positioning method |
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
| CN104808211A (en) * | 2014-12-12 | 2015-07-29 | 南阳理工学院 | Detector for measuring swimming path of fishes |
| CN104568970A (en) * | 2015-01-24 | 2015-04-29 | 无锡桑尼安科技有限公司 | Underwater welding seam automatic identification system |
| CN104588833A (en) * | 2015-01-24 | 2015-05-06 | 无锡桑尼安科技有限公司 | Underwater welding robot based on image identification |
| CN104690455A (en) * | 2015-01-24 | 2015-06-10 | 无锡桑尼安科技有限公司 | Automatic underwater welding seam recognizing method |
| CN204397131U (en) * | 2015-01-24 | 2015-06-17 | 无锡桑尼安科技有限公司 | Based on the Underwater Welding robot of image recognition |
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| CN109765596A (en) * | 2018-12-30 | 2019-05-17 | 中国船舶重工集团公司第七一0研究所 | A kind of underwater navigation detection mobile terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105834618A (en) | 2016-08-10 |
| CN105855754A (en) | 2016-08-17 |
| CN104999200B (en) | 2016-08-24 |
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