Visual Synchronous Algorithms in X-ray Pipeline-Weld Inspection
Liu Hongchen · Jisuanji fangzhen · 2006
When X-ray pipeline weld-inspection robot is working,the outer X-ray receiver is required to track the inner X-ray transmitter synchronously.In order to meet the requirement,this paper researches a kind of vision-based synchronous algorithms.The difficulty in realizing synchronization lies in how to detect the deviation angle between the outer receiver and the inner transmitter precisely and real-time,and this paper solves the problem by extracting features from X-ray images,as follows: firstly processes the image with a morphology filter,and then segments it with an adaptive threshold,and then processes it with edge detection,and finally extracts features form it with Hough transform and thus obtaining the deviation angle.Experiments on a series of X-ray images,which are taken by robot when it is working,are conducted.The experimental results show that,the algorithms detect the deviation angle precisely,and the detection velocity reaches 25 fps.Thus by controlling the servo-motor with the algorithms and a certain control rule such as PID,synchronization can be achieved.