Title :
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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739883
