Research On Rapid Positioning Navigation Technology In Visual Guidance Of Flaw Detection Robots

Inspection robot for internal crack engineering devices,external damage detection.Inspection robot in the detection process need visual positioning for its navigation,detection direction and attitude adjustment are convenient for robot.Ever given to solve this problem,many programs,but to a certain extent by the core processor module processing speed and cost constraints and the treatment effect is low.This paper presents the testing robot vision guided fast navigation technology program.In the process of testing,the robot from the detection of the attitude adjustment,the whole process is equivalent to a closed loop control system,recognition time is feedback time,if the treatment is too long and low speed feedback,then the whole closed loop nature cannot respond,the adjustment is not timely,robot navigation is meaningless.Therefore the design consideration of the real time and price After the adoption of the OV series camera and FPGA processor to solve this problem,has very important research value.The traditional solution,the basic use of the ARM and DSP microprocessor,serial characteristics of these processors largely limits the speed for image processing,a large amount of data,the processing speed is the key problem.Based on these shortcomings,FPGA processor becomes more competitive.Rapid positioning of the design based on FPGA to realize the robot's scheme,this scheme uses a FPGA image sensor,the image acquisition,based on the identification,storage,display processing was done.The real-time processing of dynamic image will be related to the calculated value of the final positioning coordinates,to provide the evidence for control the next inspection robot.In this paper,the visual guidance system is divided into three parts: the first part of the configuration of image sensor to obtain images;the second part of the image storage and gray-median filter-iterative threshold segmentation are two value image morphological processing.Digital compression,the process for the amount of data collected by the imagedenoising,segmentation.The third part is the last stage is the calibration of coordinate localization strip.The design scheme of image navigation in the real image process,realized the timing design of SCCB,optimize the design of data cache of SDRAM controller,completed the hardware design of the image processing algorithms,and complete the timing adjustment in the final.The location coordinates calibration scheme is presented in parallel with the detection scheme.Let the navigation precision of inspection robot has been improved.According to the idea of the whole,the author completed the design and optimization of the image acquisition system,the image algorithm for the hardware design and implementation,and will be part of the algorithm module conveniently.And the process of simulation debugging,can the normal operation of.FPGA high-speed processing speed fully reflected the completion of the work.Provides good control basis for later research work.