基于OpenCV的角铁中线检测方法

Method of middle line detection of angle iron based on OpenCV

为了实现电磁吸附式铁塔攀爬机器人在攀爬过程中爪子准确对准角铁,使用USB摄像头采集爪子即将吸附的角铁图像,并在VB.net中利用OpenCV开源软件包中的Sobel算子和自编的程序实现自动提取灰度阈值并检测边缘,找到角铁两边缘的中线,进而判断爪子与角铁之间的位置关系,实现准确定位。简述了OpenCV在VB.net中的使用方法,并详细介绍了边缘检测和中线提取的方法。经过实验验证,该法基本可以完成检测,帮助电磁铁爪子稳固地吸附在角铁上。

In order to make the electromagnetic-absorption tower climbing robot locate on the angle iron exactly when it climbs,The image of the angle iron,which absorbs the claws of the robot,was captured with an USB camera,and Sobel operator of OpenCV open source software package and the program in VB.net were used to find the gray threshold automatically and detect the edges of the angle iron. Using the middle line of the two edges found in the image,the distance between the claws and the angle iron can be judged. By this way,the claws of the robot can be accurately located on the angle iron. The usage of OpenCV in VB.net was brifly introduced,while the method of edge detection and the middle line extraction were introduced in detail. Experimental results showed that the method can perform the detection successfully.