Path edge identification method and system for metal structure climbing robot of crane
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A metal structure, edge recognition technology, applied in character and pattern recognition, instruments, computer parts and other directions, can solve the problem of low recognition accuracy
Active Publication Date: 2019-10-18
WUHAN UNIV OF TECH
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[0007] In view of this, the present invention provides a path edge recognition method and system for a crane metal struct
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Embodiment 1
[0084] This embodiment provides a path edge recognition method for a crane metal structure climbing robot, please refer to figure 1 , the method includes:
[0085] Step S1: Preprocessing the path image collected by the robot CMOS camera to obtain a grayscale image of the path.
[0086] Specifically, the camera carried by the climbing robot used to lift heavy metal structures can acquire path images, and then preprocess the acquired images to facilitate the identification of subsequent path edges.
[0087] Step S2: Use the line segmentation detection algorithm to detect the path grayscale image, detect all the straight line segments satisfying the constraint rules in the path image, and obtain the straight line segment detection image.
[0088] Specifically, the line segment detection algorithm is the line segment detection algorithm LSD. The present invention adopts the improved line segment detection algorithm, presets the constraint rules, and then uses the algorithm to det...
Embodiment 2
[0162] This embodiment provides a path edge recognition system for a crane metal structure climbing robot, please refer to Figure 8 , the system consists of:
[0163] The preprocessing module 201 is used to preprocess the path image collected by the robot CMOS camera to obtain a path grayscale image;
[0164] The line segmentation detection module 202 is used to detect the grayscale image of the path by using the line segmentation detection algorithm, detect all the straight line segments satisfying the constraint rules in the path image, and obtain the straight line segment detection image;
[0165] The clustering module 203 is used to perform feature extraction on the straight line segment detection image including all straight line segments, as a clustering sample, the nearest neighbor propagation clustering algorithm is used for clustering operation, and the straight line segments constituting the edge of the path are screened out;
[0166] The fitting module 204 is conf...
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Abstract
The invention discloses a path edge identification method and system for a metal structure climbing robot of a crane, and the method comprises the steps: firstly carrying out the preprocessing of a path image collected by a robot CMOS camera, and obtaining a path grey-scale map; adopting a line segment segmentation detection algorithm to detect the path grey-scale map, all straight line segments meeting constraint rules in the path image are detected, and a straight line segment detection image is obtained; then, performing feature extraction on all straight line segments contained in the straight line segment detection image, performing clustering operation by adopting an affinity propagation clustering algorithm based on the extracted features, and screening out straight line segments forming a path edge; and finally, for all the screened straight line segments forming the path edge, extracting endpoint coordinates as fitting points, fitting by adopting a least square method, and taking the straight line segment obtained by fitting as a finally identified path edge line. The technical effect of improving the accuracy of straight line segment clustering and the accuracy of edge path recognition is achieved.
Description
technical field [0001] The invention relates to the technical field of machine vision, in particular to a path edge recognition method and system for a crane metal structure climbing robot. Background technique [0002] For large hoisting machinery, the defect detection of metal structures is related to the normal operation and safety of the equipment. At present, the defect detection of metal structures of hoisting machinery at home and abroad mainly relies on manual climbing, which is risky and inefficient. Therefore, the development of a climbing robot suitable for the detection of metal structure defects in large-scale hoisting machinery can effectively reduce the risk of maintenance, maintenance, and inspection of hoisting machinery and improve work efficiency. [0003] Path edge recognition of climbing robots is mainly used in structured paths such as metal structures of lifting machinery. At present, common structured path edge recognition includes highway lane line...
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