Bolting cabin assistance system using a sensor network

The bolting cabin assistance system prevents operators from facing dangerous situations. This system consists of a bolting robot control system and a top view supervisory system. In order to control the bolting robot, circular Hough transforms and fuzzy reasoning are used. First, the circular Hough transform roughly estimates the location of the bolt hole. After that, errors of estimation are compensated for using fuzzy reasoning. In order to track a bolt hole, a region of interest (ROI) is used. By setting the region in which to search for a bolt hole, the algorithm tracks the location of the bolt hole. In order to choose an ROI, a template-based matching algorithm is used. In order to make the top view supervisory system, four cameras are installed at the left, right, front and back of the robot. The four individual images from the various cameras are combined to make the top view image after correcting for distortion.