压路机钢轮压实边缘的检测与提取  

Detection and extraction of compaction edge of roller steel wheel

作　　者：黄浩[1] 汪学斌[1] HUANG Hao;WANG Xuebin(School of Construction Machinery,Chang′an University,Xi′an,Shaanxi 710064,China)

机构地区：[1]长安大学工程机械学院,陕西西安710064

出　　处：《江苏大学学报（自然科学版）》2021年第6期709-714,共6页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金青年科学基金资助项目(52052574);陕西省科技计划项目(2021JQ-271);陕西省自然科学基础研究计划项目(2021JQ264)。

摘　　要：针对压路机特有的非结构化工作场景且较为固定的工作轨迹,采用视觉处理算法提取压路机钢轮的碾压痕迹.首先对碾压区域的RGB图像进行灰度化处理,并通过预处理算法消除随机噪声;其次通过比较Roberts、Sobel、Prewitt、Canny、Kirsch等边缘检测算子,选取检测效果最好的算子;最后采用Hough变换进行碾压痕迹线段提取.结果表明,Canny、Kirsch算子的边缘检测结果更为清晰,但经过Hough变换后,采用Kirsch算子提取到的直线误差最小.结合Kirsch算子和Hough变换的方法能准确提取钢轮碾压痕迹边缘信息,同时保证准确性和实时性,为压路机实现自动行驶提供了重要的视觉信息.For the unique unstructured working scene and relatively fixed working track of the roller,the visual processing algorithm was adopted to extract the rolling trace of the steel wheel.The RGB image of rolling area was grayed,and the random noise was eliminated by preprocessing algorithm.By comparing Roberts,Sobel,Prewitt,Canny,Kirsch and other edge detection operators,the operator with the best detection effect was selected.Hough transform was used to extract the rolling trace line segments.The results show that the edge detection effects of Canny and Kirsch operators are more clear.After Hough transform,the straight line error extracted by Kirsch operator is the smallest.The method combined with Kirsch operator and Hough transform can extract the edge information of steel wheel accurately and can ensure the accuracy and real-time,which provides important visual information for the automatic driving of roller.

关 键 词：压路机 视觉定位 碾压痕迹 边缘检测算子 HOUGH变换 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]