基于视觉传感器的管内作业机器人位置检测

A VISION-SENSOR-BASED METHOD FOR POSITION MEASURING OF PIPELINE ROBOT

摘要: 针对管道工程探伤及内防腐补口的要求设计了视觉传感器，分析了成象机理与参数的配合关系，给出了数字图象信号与机器人位置的关系式及系统误差的补偿算法．实验结果证明该方法是有效的．

Abstract: A vision sensor is desigend to fulfill the requirement of detecting of defects and coating in pipeline engineering .The mechanism for the formation of image and the match of parameters is analyzed. In this paper we also bring out a relevant formula between the digital image and position of robot in pipeline and also the compensatory algorithm for the system error. Experimental results show this method is effective.