| 基于图像处理的爬壁机器人焊缝识别与跟踪 |
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| 引用本文： | 杨玥旻,闫维新.基于图像处理的爬壁机器人焊缝识别与跟踪[J].机械与电子,2021,39(3):65-68. |
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| 作者姓名： | 杨玥旻 闫维新 |
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| 作者单位： | 上海交通大学机械与动力工程学院,上海 200240 |
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| 摘 要： | 基于爬壁机器人移动平台和单目相机的图像采集系统，设计了一种焊后焊缝图像处理方法，将改进的自适应中值滤波算法与灰度形态学方法结合，实现从信噪比较高的图像中提取特征。采用基于边缘检测和Hough变换的焊缝位置提取算法，经测试识别准确率达70%，且单幅图像平均处理时间为200ms，能满足管道爬壁机器人行进过程中的实时焊缝跟踪，并提供了一种引导机器人沿焊缝前进的自主定向方案。
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| 关 键 词： | 爬壁机器人 图像处理 特征提取 焊缝跟踪 定向 |
Welding Seam Recognition and Tracking Based on Image Processing for Wall-climbing Robot |
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| YANG Yuemin,YAN Weixin.Welding Seam Recognition and Tracking Based on Image Processing for Wall-climbing Robot[J].Machinery & Electronics,2021,39(3):65-68. |
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| Authors: | YANG Yuemin YAN Weixin |
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| Affiliation: | School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China |
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| Abstract: | The first step to realize automatic welding seam tracking of wall-climbing robot is to obtain the position information of weld seam in real time and accurately. Based on the wall-climbing robot and monocular camera, an image acquisition system was proposed. In order to extract features from images with high signal noise, an image processing method for after-welding seams was designed based on improved adaptive median filtering algorithm and gray-scale morphology. Edge detection and Hough transform was adopted to obtain the weld position. Results show that this algorithm can extract weld position with 70% accuracy, and the average processing time is 200ms, which meet the requirement of real-time welding seam tracking. An autonomous orientation scheme is provided based on welding seam tracking to guide the wall-climbing robot along the seam. |
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| Keywords: | wall-climbing robot image processing feature extraction welding seam tracking orientation |
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