图像拼接技术在爬壁机器人位置伺服控制系统中的应用

针对传统爬壁机器人对裂缝图像拼接效果差而导致位置控制结果不精准、工作效率较差的问题,提出基于图像拼接的爬壁机器人位置伺服控制系统.选取 STM３２F１０３RCT６ 为主控芯片,采用气动方式设计机械气动结构,利用 PLC 位置伺服控制器实现故障电路检测.设计视觉控制平台,避免强电磁场影响.软件部分依据 CCD 相机实现机器人视觉监测,采用图像拼接技术删除相邻图像的边缘处重叠部分,实现对墙壁裂缝的准确监测,利用机器人运动速度及机器人预设位置轨迹计算爬壁机器人的位置伺服控制值,将该值传输至系统硬件,实现位置伺服控制.由实验结果可知,所设计系统对裂缝全景图像拼接的精准度较高,机器人的位置伺服控制准确率为 ９７．５％ .

Application of Image Mosaic Technology in the Position Servo Control System of Wall Climbing Robot

Aiming at the problem of inaccurate position control results and poor work efficiency caused by the poor effect of traditional wall-climbing robots on crack image splicing , the design of the position servo control system of the wall-climbing robot based on image splicing is proposed．The STM３２F１０３RCT６ is selected as the main control chip．The mechanical pneumatic structure is designed pneumatically , and the PLC position servo controller is used to realize the fault circuit detection．A visual control platform is designed to avoid the influence of strong electromagnetic fields．The software partly realizes robot visual monitoring based on CCD camera , uses image stitching technology to delete overlapping parts at the edges of adjacent images , realizes accurate monitoring of wall cracks ,and calculates the position servo control of the wall-climbing robot using the robot movement speed and the robot preset position trajectory．The value is transmitted to the system hardware to realize the position servo control． It can be seen from the experimental results that the designed system has a high accuracy of? stitching panoramic images of cracks , and the accuracy of the robot ’s position servo control is ９７．５％．