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Open AccessArticle

Visual Locating of Reactor in an Industrial Environment Using the Composite Method

1
School of Automation, Chongqing University, Chongqing 400044, China
2
School of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400044, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(2), 504; https://doi.org/10.3390/s20020504
Received: 5 December 2019 / Revised: 4 January 2020 / Accepted: 7 January 2020 / Published: 16 January 2020
(This article belongs to the Section Optical Sensors)
To achieve an automatic unloading of a reactor during the sherardizing process, it is necessary to calculate the pose and position of the reactors in an industrial environment with various amounts of luminance and floating dust. In this study, the defects of classic image processing methods and deep learning methods used for locating the reactors are first analyzed. Next, an improved You Only Look Once(YOLO) model is employed to find the region of interest of the handling hole and a handling hole corner detection method based on the image morphology and a Hough transform is presented. Finally, the position and pose of the reactors will be obtained by establishing a 3D handling hole model according to the principle of a binocular stereo system. To test the performance of the proposed method, a set of experimental systems was set up and experiments were conducted. The results indicate that the proposed location method is effective and the precision of the position recognition can be controlled to within 4.64 mm and 1.68 ° when the cameras are approximately 5 m away from the reactor, meeting the requirements. View Full-Text
Keywords: sherardizing; reactor; YOLO; handling-hole; Hough transform sherardizing; reactor; YOLO; handling-hole; Hough transform
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Cao, C.; Ouyang, Q.; Hou, J.; Zhao, L. Visual Locating of Reactor in an Industrial Environment Using the Composite Method. Sensors 2020, 20, 504.

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