| 管道焊缝探伤机器人的视觉牵引算法 |
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| 引用本文： | 陈忠建,冯勇,刘洪臣.管道焊缝探伤机器人的视觉牵引算法[J].焊接技术,2005,34(6):11-13. |
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| 作者姓名： | 陈忠建 冯勇 刘洪臣 |
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| 作者单位： | 哈尔滨工业大学,电气工程系,黑龙江,哈尔滨,150001 |
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| 摘 要： | 设计了一套管道焊缝探伤机器人的视觉牵引算法，用于完成高性能的焊缝自动定位任务。机器视觉系统采集管道图像后，以焊缝形态为特征，先对图像进行形态学滤波，然后用自适应闽值进行图像分割，最后用Hough变换从图像中准确检测出焊缝相对位置。试验结果表明，整套算法可靠、准确、实时性好，完全满足管道探伤机器人焊缝自动定位系统的性能要求。
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| 关 键 词： | 焊缝定位 机器视觉 形态学滤波 自适应阈值 Hough变换 |
| 文章编号： | 1002-025X(2005)06-0011-03 |
| 收稿时间： | 2005-03-30 |
| 修稿时间： | 2005-09-15 |
Vision-based navigation algorithms for pipeline weld inspection robot |
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| CHEN Zhong-jian,FENG Yong,LIU Hong-chen.Vision-based navigation algorithms for pipeline weld inspection robot[J].Welding Technology,2005,34(6):11-13. |
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| Authors: | CHEN Zhong-jian FENG Yong LIU Hong-chen |
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| Abstract: | In order to locate the weld effectively and automatically, a set of vision-based navigation algorithms for pipeline weld inspection robot is proposed in the paper. After the pipeline image is acquired by visual system, it is firstly pretreated with a morphology filter, and then segmented by an self-adaptive threshold, finally the weld is located accurately by Hough transform. The result shows that the algorithms are reliable, accurate and real-time, thus completely meeting the requirement of the weld locating system. |
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| Keywords: | weld locating machine vision morphology filter self-adaptive threshold Hough transform |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
