Visual Positioning Of Sewage Discharing Robot

After a comprehensive research of robot technology, a new robot for the waste pipe combination is presented in this paper; meanwhile the Machine visual technology is also studied and the positioning of waste pipe is completed; aimed at the disadvantage like illumination and color disturbers, we use the method of FFT correlation template matching to identify the special black and white picture on the sewage vehicle to acomplete character distill.Machine vision is one of the most important orientations of the robotic technology nowadays. As one kind of the Machine vision, Binocular Stereo Vision has the superiority of high-precision, high sensitivity, and being able to complete assignment in complex environment.The method of edge detection for location is not usable for the location of pipe on the sewage vehicle because of the affects from nearby environment such as: color difference, illumination, shooting angle and so on. So the method we adopted is: fix a round black and white picture on the sewage vehicle at a certain distance from the waste pipe, and then identify the marked picture with the method of pattern matching, finally, achieve target location with 3-D coordinate conversion.We used the FFT correlation operator to accomplish pattern matching: section need to be identified in the picture is saved as matching template in the upper computer, and move this template in the objective image in step, and then calculate the gray correlation of the original image and the objective image, so the image section to be identified is where the correlation value is maximum. Then, use 3-D conversion relationship to gain the world coordinate the world coordinate of the waste pipe. Finally, movement control of the robot is researched and designed.Finally, the result of positioning is send to ARM controller as the parameter for control the motor. The movement of robot is controlled by using the PWM in the ARM processor and the PIC control software, which enables the robot moves toward the sewage vehicle.Experiments validated that the method we used is suitable for the waste pipe location in the sewage processing factory.