摘要
管内切割机器人的管口精确定位是实现其快速切割功能的重要前提,传统CCTV人工视频内窥检测定位的局限性,会导致管内切割机器人定位管口产生误差,最终影响管内切割机器人的切割工作。为确保机器人定位管口位置的准确性,提出一种基于图像处理Hough变换技术的智能定位管口方法。对管内切割机器人采集的图像进行预处理减少图像的噪声,对预处理过的图像采用二值化法突出管口信息的边缘,并使用Canny方法提取管口的边缘,最后通过Hough变换法提取圆的特征,从而实现准确识别管口圆,达到辅助切割机器人进行智能定位管口的目的。实验结果表明,所提方法可明显突出显示管口的特征,并能精确定位管口,为管内切割机器人智能控制奠定基础。
Accurate orifice localization of in-pipe cutting robot is an important prerequisite to realize its fast cutting function.The limitations of traditional CCTV artificial video endoscope detection and localization will lead to errors in orifice localization of in-pipe cutting robot,and ultimately affect the cutting work of in-pipe cutting robot.In order to ensure the accuracy of the location of the orifice,an intelligent orifice location method based on image processing Hough transform technology is proposed in this paper.The image collected by the in-pipe cutting robot is preprocessed to reduce the noise of the image,the pre-processed image is highlighted by binarization method,and the edge of the pipe orifice is extracted by Canny method.The feature of the circle is extracted by Hough transform method,so as to accurately identify the pipe orifice and achieve the purpose of intelligent positioning of the pipe orifice by the assistant cutting robot.The experimental results show that the method proposed in this paper can clearly highlight the characteristics of the pipe orifice and accurately locate the pipe orifice,which lays the foundation for intelligent control of the pipe cutting robot.
作者
曹建树
王鹏智
吴浩玚
钟君
纪卫克
Cao Jianshu;Wang Pengzhi;Wu Haoyang;Zhong Jun;Ji Weike(School of Mechanical Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China)
出处
《电子测量技术》
2020年第3期162-169,共8页
Electronic Measurement Technology
基金
北京市自然科学基金(3182008)项目资助。
