Method for accurately positioning vision in cleaning robot of condenser

Abstract

The invention discloses an accurate vision positioning method for condenser cleaning robots. The method comprises the following steps that: the coordinate transformation relation between a camera coordinate system and an image plane, as well as the coordinate transformation relation between the image plane and a pixel coordinate system are established; nonlinear distortion is introduced on the basis of a pinhole imaging model, and a distorted image is restored; main noise of an underwater image is eliminated through an index low-pass filter and a homomorphic filter; a novel self-adaptive threshold method based on edge detection is utilized to carry out binarization segmentation to the image and eliminate incomplete tube orifices on a boundary; the edge pixel coordinate set of each tube orifice is obtained by scanning twice; and a least square method is utilized to fit the tube orifices so as to obtain a circle center coordinate of the tube orifice of a condensing tube, thereby realizing the accurate positioning of the underwater condensing tube. The invention has the advantages that the method is high in positioning precision and simple in process, needs no high-cost auxiliary adjustment equipment, and is applicable to the condenser cleaning robots in the on-site calibration for condensing tube orifices.

Description

technical field [0001] The invention belongs to the technical field of image processing and automation, and relates to a visual precise positioning method in a condenser cleaning robot. Background technique [0002] At present, the condensers used in the industrial field are generally water-cooled and air-cooled, most of which are water-cooled, and the cooling water is directly taken from natural water sources such as rivers, rivers, lakes, seas, etc. The water source is not clean, and due to heat Due to chemical reactions and other reasons during the exchange, fouling will inevitably occur on the pipes of the condenser. The existence of dirt will cause a series of hazards: 1. The heat transfer coefficient of the condenser is sharply reduced, resulting in a decrease in the vacuum degree of the condenser, and the output of the steam turbine unit is reduced accordingly, thereby reducing the efficiency of the turbine generator; 2. Increased The water flow resistance of the coo...

AI Technical Summary

Problems solved by technology

Now people mainly use the traditional direct coordinate input method to locate the nozzle of the condenser tube, that is, assuming that the position coordinates of each condenser tube on the tube plate are known, and then move the spray gun to the position according to the input coordinate information. The coordinate point realizes the alignment of the nozzle, but there is a deviation between the actual input and the expected value, and the lack of feedback information in each positioning process and the error of mechanical movement will lead to low positioning accuracy. Accumulation seriously affects the cleaning effect

Images