Study Of Condenser Copper Tube Location Based On Visual Localization

With advantages of increasing labor efficiency,improving working condition and over coming operating limit,the cleaning robots can replace the manual 1abor for cleaning operations.So that,robot researchers pay great attention to them in recent years.Condenser cleaning robot is one kind of industrial cleaning robots,taking an important part in cleaning equipments of large thermal power plant condenser. A novel strategy of underwater visual positioning system of condenser cleaning robot is taken into considering for solving the former tubes positioning problems caused by coordinates input in this paper.In consideration,key matters in the process of this strategy implementation are analyzed.Firstly, this paper reviews the conception of the underwater robots and the research status at home and abroad, then mainly analyzed the main defects of the condenser cleaning robot location method.Secondly, this paper simply introduces the research status and the current level of the machine vision technology and the development of pattern recognition, then, according the research purpose of this paper, introduces the difficulties of the underwater image processing and the center-point location, mainly including the complex environment of underwater image imaging process and underwater quality of image and he influence of imaging.Then, because the reason of the underwater image formation complex and the imaging quality by the noise of water and sundries in the water, this paper firstly research the processing method of image preconditioning, through compares the excellence and shortcoming of each preconditioning method, chooses the proper method pretreat the image. Then proposed use the OTSU segmentation algorithm binary the image and use the region growing algorithm extracting the binary image, Secondly, aiming at improve on the three disadvantage of traditional Canny algorithm, proposed the improved Canny algorithm detection the image edge, and for the real-time of the treatment process, proposed the improved Hough algorithm replace the traditional Hough algorithm to advances the processing speed. The experiment proves the algorithm of this paper can obtain satisfactory effect.Finally, use OpenCV proved the algorithm of the paper, experiment showed that the method proposed in this paper can autonomous positioning the tube of condenser and solve the problem of condenser dirt online automatic cleaning.