基于X射线图像的视觉伺服同步控制技术  

Synchro-control technique of vision servo based on X-ray image

作　　者：邓宗全[1] 许冯平[1] 张晓华[1] 

机构地区：[1]哈尔滨工业大学机电学院,黑龙江哈尔滨150001

出　　处：《控制与决策》2004年第11期1246-1249,1254,共5页Control and Decision

基　　金：国家863计划资助项目(2001/AA422410).

摘　　要：针对X射线检测实时成像管道机器人工作的特殊性,提出一种基于基准铅丝X射线图像的管内、外旋转机构伺服同步跟踪旋转控制技术.X射线使用于传递同步跟踪信息的基准铅丝与焊缝同时成像于计算机中.计算机可实时检测到基准铅丝图像偏离屏幕基准中线的位移,并将该位移作为管外旋转机构伺服控制系统的偏差,调节管外旋转机构跟踪旋转,实现同步运动,从而满足X射线实时成像检测技术的工艺要求.Aiming at the working particularity of the X-ray inspection real-time imaging pipeline robot (RTIPR), a synchro-follow control technique of vision servo was put forward based on the X-ray image of benchmark lead wire, which can transmit synchro-follow message. It utilizes X-ray to make benchmark lead wire image simultaneously with the weld seam in a computer. By measuring the displacement on-line which the image of benchmark lead wire deviates from the reference center line of the computer's screen, the out-pipe computer lets the displacement use as an error input of vision servo's control system of out-pipe rotary mechanism to regulate its rotating movement, then the synchro-motion can be realized to meet the technologic requirement of X-ray real time imaging inspection technique (RTIIT).

关 键 词：同步控制技术 管道机器人 X射线检测 实时成像 视觉伺服 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]