A fastening bolt method based on image recognition

Author

Xingguang Duan ; Yonggui Wang ; Meng Li ; Xiangzhan Kong ; Aliy, Syed Amjad

Author_Institution

Key Lab. of Biomimetic Robots & Syst., Beijing Inst. of Technol., Beijing, China

fYear

2013

fDate

12-14 Dec. 2013

Firstpage

2709

Lastpage

2714

Abstract

Since the intricate and dangerous working environment of steam generator, it´s risk for workers to complete fastening bolts of blocking plate. The paper introduces a fastening bolt method based on image recognition. The mechanical structure and control system were proposed gradually to be a carrier for the method. Then the image recognition adapted the Canny algorithm to realize the image binaryzation and draw the image counter. After the polygonal curve algorithm was utilized to get the hexagon, the center coordination values of the hexagon was obtained by the hexagonal spatial moment. In addition, the fastening bolt method was displayed, which adapted the torque and time control method. Finally the precision and bolt experiment validated the procedure of the image recognition and fastening bolt.

Keywords

boilers; fasteners; image recognition; joining processes; manipulators; nuclear power stations; power plants; robot vision; Canny algorithm; blocking plate manipulation robot system; center coordination values; control system; fastening bolt method; hexagonal spatial moment; image binaryzation; image recognition; mechanical structure; nuclear power plant; polygonal curve algorithm; steam generator; time control method; torque control method; Fasteners; Image recognition; Joining processes; Joints; Robot kinematics; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ROBIO.2013.6739883

Filename

6739883