单目视觉在围油栏前端浮筒捕获装置中的应用

Application of Monocular Vision in Oil Fence Front Buoy Capture Device

在海上溢油回收中,为了提高溢油回收船的自动化程度和工作效率,针对溢油回收船中,机械臂快速捕获围油栏前端浮筒的问题,提出了一种基于单目视觉的精确定位方法。该方法由上位机控制摄像机获取图像信息,通过Canny算子边缘检测方法提取浮筒的边缘,采用Hough变换将图像空间对应到参数空间,利用三维空间参数聚类,提取浮筒的圆心坐标。最终,将坐标数据传输给下位机,驱动机械臂,完成快速捕获浮筒、导出围油栏的任务。

In the recovery of oil spill,in order to improve the oil recovery ship's automation degree and work efficiency,aimed at the problem of mechanical arm fast capturing oil fence front buoy on the oil recovery ship,an accurate positioning method is put forward based on monocular vision. The method was used of computer to control the camera to acquire image information,by the Canny operator edge detection method to extract the edge of the buoy,using of the Hough transformed the image space corresponding to the parameter space,and utilizing the three dimensional( 3D) space parametric clustering to extract the buoy's center coordinates. Finally,the coordinate data is transmitted to the lower computer,driving the robot arm to complete the task of fast capturing buoy and expanding the oil boom.