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.

中文翻译：

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使用复合方法的工业环境中反应堆的可视化定位。

为了在渗碳过程中实现反应堆的自动卸载，有必要计算在工业环境中具有各种亮度和浮尘的反应堆的姿态和位置。在这项研究中，首先分析了用于定位反应堆的经典图像处理方法和深度学习方法的缺陷。接下来，采用一种改进的“一次只看一次”（YOLO）模型来查找操纵孔的感兴趣区域，并提出了一种基于图像形态学和霍夫变换的操纵孔拐角检测方法。最后，根据双目立体系统的原理，通过建立3D处理孔模型来获得反应堆的位置和姿态。为了测试所提出方法的性能，建立了一套实验系统并进行了实验。结果表明，所提出的定位方法是有效的，当摄像机距离反应堆约5 m时，位置识别的精度可以控制在4.64 mm和1.68°以内。