Research On Gas Pipeline Weld Positioning And Robot Communication System

Centering on inner pipeline weld seam position, research on the "localization on gas pipeline weld and communication system for robot" has been conducted. This study realizes the extraction and transport of seam position coordinate, which provide a basis for accurate positioning of the internal pipeline weld processing robot.Design of weld seam image processing system is based on the study of machine vision. Using the powerful data processing ability of Matlab and the image processing functions in the toolbox, analysis on the weld image obtained on acquisition system are carried out. Through the special designed image pretreatment process, based on the idea of curve fitting, the computation is operated on the extraction results of weld edge to realize the fitting of weld center line, complete the localization of weld seams which is highly consistent with the actual position.By Zhang Zhengyou calibration method camera is calibrated to determine internal and external parameters for the realization of the convert of coordinate namely the realization of transformation between the image and world coordinates.The digital communication mode is applied for the solution to wireless data transmission which is designed based on MCU and PTR2000 scheme with adoption of CRC to ensure its reliability.Transmission of pipeline weld positioning coordinate data is completed inside and outside.Based on the processing on weld position information extracted and wireless data communication system in the image, weld coordinate information is provided to pipeline robot for autonomous positioning, polishing, spraying anti-corrosion materials on gas pipeline weld joints.