基于Halcon的蒸汽发生器堵板操作机器人视觉定位算法

蒸汽发生器的工作环境复杂、危险,施工人员在完成堵板螺栓紧固时存在一定的风险。介绍了一种基于图像识别的螺栓紧固方法。机器人自主作业平台主要包括机器人系统和图像采集系统两个部分,采用图像处理软件Halcon,实现基于灰度值的图像阈值分割,利用圆形曲线算法得到圆后,最终得到圆的几何中心。此外,还显示了采用扭矩和时间控制方法的紧固螺栓方法。最后通过螺栓实验和精度验证了图像识别和螺栓紧固的过程。结果表明针对堵板机器人螺栓定位问题采用的基于阈值分割的定位算法识别率为100%,定位最大误差为1.10mm,最小误差为0.92mm,满足堵板机器人螺栓自主定位的精度要求。

Vision positioning algorithm of the Steam generator blocking operation robot based on Halcon

Steam generator of the complex work environment risk, construction personnel in the finished wall plate bolts has certain risk introduced a bolt fastening method based on image recognition robot autonomous operation platform mainly includes the robot system and image acquisition system of two parts, with image processing software Halcon, realize the image threshold segmentation based on grey value, circular curve algorithm are used to get the round after, finally get the center of the circle in addition, also shows that the torque and time control method of fastening bolt method at last, through experiments and the test precision of the image recognition and bolt tightening process.The results show that the recognition rate of the positioning algorithm based on threshold segmentation is 100%, the maximum positioning error is 1.10mm, and the minimum error is 0.92mm, which meets the requirements of the autonomous positioning accuracy of the robot bolt.