[1]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,(03):65-68.
　YANG Yuemin,YAN Weixin.Welding Seam Recognition and Tracking Based on Image Processing for Wall-climbing Robot[J].Machinery & Electronics,2021,(03):65-68.
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基于图像处理的爬壁机器人焊缝识别与跟踪()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年03期
页码:
65-68
栏目:
智能工程
出版日期:
2021-03-24

文章信息/Info

Title:
Welding Seam Recognition and Tracking Based on Image Processing for Wall-climbing Robot
文章编号:
1001-2257（2021）03-0065-04
作者:
杨玥旻; 闫维新
上海交通大学机械与动力工程学院,上海 200240
Author(s):
YANG Yuemin; YAN Weixin
 School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
关键词:
爬壁机器人; 图像处理; 特征提取; 焊缝跟踪; 定向
Keywords:
wall-climbing robot;  image processing;  feature extraction;  welding seam tracking;  orientation
分类号:
TG409 ；TP391.41
文献标志码:
A
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。
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2020-11-26

作者简介：杨玥旻（1995-），女，江苏无锡人，硕士研究生，研究方向为机器视觉及爬壁机器人定位；闫维新（1978-），男，上海人，博士，副研究员，研究方向为智能机器人设计与控制。

更新日期/Last Update: 2021-03-22