基于图像处理的在线吸尘机器人研究与实现

Research and Implementation of Online Dust Cleaning Robot Based on Image Processing

为解决工业生产线灰尘清理以及产线过度磨损的问题,本文研发设计了一种基于图像检索算法的产线智能吸尘机器人。首先设计了产线吸尘机器人的机械结构,其次,为提升其吸尘效率,基于摄像头获取的实时传送带监控图像,采用小波变换和GLCM算法检索图像纹理特征,使用根据距离度量法计算图像的相似度,相似度越低,吸尘口风速越大,然后,控制直流电机的转速调整吸尘口风速。经实际产线环境测试实验,吸尘机器人的底座能与产线无缝配合,沿传送带自动吸尘。此外,将图像处理技术应用于产线上,把吸尘效率作为吸尘的量化评价指标,产线吸尘机器人在传送带上吸尘可以达到93%以上的吸尘效率。

In order to solve the problems of dust cleaning and excessive wear of industrial production line,an intelligent dust clean⁃ing robot based on image retrieval algorithm is developed and designed in this paper.Firstly,the mechanical structure of the pro⁃duction line vacuum cleaning robot is designed.Secondly,in order to improve its dust collection efficiency,the wavelet transform and GLCM algorithm are used to retrieve the image texture features based on the real-time monitoring image of the conveyor belt obtained by the camera.The similarity of the image is calculated by the distance measurement method.The lower the similarity is,the greater the wind speed of the dust suction port is.Then,the speed of the DC motor is controlled to adjust the dust suction port Wind speed.According to the actual production line environment test,the base of the vacuum cleaning robot can cooperate with the production line seamlessly and automatically dust along the conveyor belt.In addition,the image processing technology is ap⁃plied to the production line,and the dust collection efficiency is taken as the quantitative evaluation index of dust collection.The dust collection efficiency of the production line vacuum cleaning robot on the conveyor belt can reach more than 93%.