关键词: 冷凝管, 机器视觉, DSP, 图像处理, 定位

Abstract: According to the work environment and conditions of the robot，and aiming at the limitation of localization with coordinates input，machine vision technique is added to the paper，system feasibility is discussed，an embedded machine vision system based on DSP is designed，structure and principle of illumination mode，image gathering module and processing module are also introduced in detail.Related to the system application and algorithm real-time capability，the circle center of tube is localized using the maximum square error method and gravitational center method.Experimental results of the vision system have proved that the robot’s integration，speed and precision of positioning are increased to some extend.

Key words: condenser tubes, machine vision, DSP, image processing, localization