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Study of Condenser Copper Tube Location Based on Visual Localization

Author: WangBing
Tutor: FanShaoSheng
School: Changsha University of Science and Technology
Course: Circuits and Systems
Keywords: Condenser cleaning robot Visual Positioning Canny edge detection Hough transform Center location OpenCV
CLC: TP391.41
Type: Master's thesis
Year: 2009
Downloads: 51
Quote: 1
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Abstract


The condenser cleaning robot can replace the manual cleaning operations, with high labor efficiency, able to adapt to the harsh environment, the advantages of limiting operations so valued by the high current robotics research. This paper, condenser cleaning robot coordinate input method to locate the condenser nozzle positioning is not accurate defect in the the condenser cleaning process in-depth study of the characteristics and advantages of the machine vision technology proposed underwater cleaning of condenser Robot Vision Positioning System program, analysis of the feasibility and implementation process of the program you want to solve the problem. First of all, the first concept of underwater cleaning robot, and a major study of the status quo of the current domestic and international, and in-depth analysis of the condenser cleaning robot positioning defects. Secondly, introduced the concept of machine vision positioning technology and pattern recognition, machine vision to locate and pattern recognition analyzes the current development status at home and abroad, which focuses on the characteristics of the water for underwater imaging, and water The process of the next image recognition system for analysis and study. Finally, the noise and deal with the difficulties that may be encountered in the underwater image processing, analysis and research. For underwater image imaging process and the image quality is affected by the larger cause noise interference, image pre-processing method and process, and compare the pros and cons of each method in the pretreatment process, and select the appropriate method of image pre processing. Then put forward the use of OSTU method to determine the threshold binarization processing of the image after the pretreatment, three disadvantages Operators traditional Canny edge detection and center location process, improved Canny operator of pretreatment After the image edge detection for real-time processing, improved randomized Hough transform and edge detection image center location to change traditional Hough transform computing speed slow. The experiments show that the algorithm used to extract more accurate positioning and center to the edge of the image. Finally OpenCV to achieve the above algorithm, experiments show that the method used to achieve autonomous positioning of the condenser tube mouth solve the key issue of the online automated cleaning of the condenser dirt.

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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