The invention discloses a large-scale marine pipeline
initial point recognition and location method and
system based on CCD. The method and
system comprise the following steps that: (1) the position of a
welding line is preliminary located, wherein a CCD industrial
digital camera collects the images of the
welding line, a main control computer calculates the real-time change of line pixel deviation between the center of a
welding gun and the center of the welding line, and a welding
robot is located above the welding line preliminary; (2) pixel coordinates of an
initial point are extracted, wherein one welding spot of positioned welding is recognized, a dislodgement
machine drives a pipeline to move rotatably, images are collected in real-time, picture
processing is conducted to a rectangular area-of-interest containing the welding gun, if the welding spot is detected, the dislodgement
machine stops rotating, and the pixel coordinates of the barycenter of the welding spot are extracted; (3) the
initial point is located, wherein the welding
robot moves horizontally by a
short distance in the Y direction of a basal coordinate
system, the images of the welding line are collected, the pixel coordinates of the barycenter of the welding spot are extracted again, the three-dimensional coordinates of the initial point are calculated by the utilization of stereoscopic vision, and the welding
robot is located to the initial point.