CN112489009A - Pump body mouth ring pose detection method based on visual image - Google Patents

Pump body mouth ring pose detection method based on visual image Download PDF

Info

Publication number
CN112489009A
CN112489009A CN202011357360.9A CN202011357360A CN112489009A CN 112489009 A CN112489009 A CN 112489009A CN 202011357360 A CN202011357360 A CN 202011357360A CN 112489009 A CN112489009 A CN 112489009A
Authority
CN
China
Prior art keywords
pump body
ring
circle
mouth ring
contour
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011357360.9A
Other languages
Chinese (zh)
Other versions
CN112489009B (en
Inventor
于福才
徐昌军
豆祥忠
彭欢
曹雏清
高云峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhu Hit Robot Technology Research Institute Co Ltd
Original Assignee
Wuhu Hit Robot Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhu Hit Robot Technology Research Institute Co Ltd filed Critical Wuhu Hit Robot Technology Research Institute Co Ltd
Priority to CN202011357360.9A priority Critical patent/CN112489009B/en
Publication of CN112489009A publication Critical patent/CN112489009A/en
Application granted granted Critical
Publication of CN112489009B publication Critical patent/CN112489009B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/20—Image enhancement or restoration using local operators
    • G06T5/30—Erosion or dilatation, e.g. thinning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Quality & Reliability (AREA)
  • Geometry (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a pump body mouth ring pose detection method based on a visual image, which comprises the following steps: s1, sequentially carrying out graying and binarization processing on the input pump body orifice ring image to form a pump body orifice ring image src 1; s2, detecting the outline of the outermost layer of the mouth ring of the pump body mouth ring image src1 and a plurality of concave arcs on the outline of the outermost layer of the mouth ring; s3, determining the center and half of the concave arcDetecting whether the difference value between the radius value of the concave arc and the radius set value is within the deviation allowable range; s4, if the detection result is yes, acquiring a line segment L where the center of the minimum enclosing circle of the outmost layer outline of the oral ring and the centers of all the inward concave circular arcs are locatedhAnd a line segment L parallel to the x-axis and passing through the center of the minimum enclosing circlexCalculating the line segment LhAnd LxThe minimum included angle is used as the posture of the pump body mouth ring, and the circle center of the minimum surrounding circle of the outmost layer outline of the mouth ring is the position of the pump body mouth ring. The invention identifies the image of the mouth ring to obtain the pose data of the mouth ring, and the mouth ring can be accurately installed on the mouth ring base based on the pose data of the mouth ring.

Description

Pump body mouth ring pose detection method based on visual image
Technical Field
The invention belongs to the technical field of image detection, and particularly relates to a pump body mouth ring pose detection method based on a visual image.
Background
In the pump body manufacturing industry, a mouth ring is taken as a mounting component in a pump body and needs to be placed in a mouth ring base with convex points, and the convex points of the mouth ring base are placed in an inwards concave arc surrounding area of the outer edge of the mouth ring in a correct posture. Most of the existing mouth rings are manually placed in a mouth ring base, so that the problems of time and labor consumption and low working efficiency exist, and the recognition of the pose of the mouth ring is a key and difficult point to overcome to realize the automatic installation of the mouth ring.
Disclosure of Invention
The invention provides a pump body mouth ring pose detection method based on a visual image, and aims to solve the problems.
The invention is realized in this way, a pump body mouth ring pose detection method based on visual images, the method comprises the following steps:
s1, sequentially carrying out graying and binarization processing on the input pump body orifice ring image to form a pump body orifice ring image src 1;
s2, detecting the outline of the outermost layer of the mouth ring of the pump body mouth ring image src1 and a plurality of concave arcs on the outline of the outermost layer of the mouth ring;
s3, determining the center and radius of the concave arc, and detecting whether the difference value between the radius value of the concave arc and the radius set value is within the deviation allowable range;
s4, if the detection result is yes, acquiring a line segment L where the center of the minimum enclosing circle of the outmost layer outline of the oral ring and the centers of all the inward concave circular arcs are locatedhAnd a line segment L parallel to the x axis and passing through the center of the minimum enclosing circlexCalculating the line segment LhAnd line segment LxThe minimum included angle is used as the posture of the pump body mouth ring, and the circle center of the minimum surrounding circle of the outmost layer outline of the mouth ring is the position of the pump body mouth ring.
Further, the detection method of the concave arc specifically comprises the following steps:
s21, solving a minimum enclosing circle of the outline of the outermost layer of the opening ring;
s22, calculating the distance between each contour point on the contour of the outermost layer of the mouth ring and the center of the minimum enclosing circle;
s23, screening contour points with the distance smaller than the radius of the minimum enclosing circle, wherein the screened contour points form a plurality of concave arcs on the outermost contour of the pump body opening ring.
Further, the method for determining the circle center of the concave arc specifically comprises the following steps:
s31, arranging the position coordinates of each contour point on each concave arc in an ascending order to form a contour point set, and sampling the contour points in the contour point set based on a set distance value;
s32, calculating the perpendicular bisectors of the line segments where the adjacent sampling contour points are located in sequence, acquiring the intersection points of all the adjacent perpendicular bisectors, and putting the intersection points into an intersection point set;
s33, sequentially taking each intersection point in the intersection point set as a circle center and a set distance threshold value as a radius to form a circular window, and counting the number of intersection points falling into the circular window;
s34, the average value of the coordinates of each intersection point in the circular window with the maximum intersection point number is the center of the concave circular arc.
Further, the method for acquiring the sampling contour points specifically comprises the following steps:
s311, taking the first contour point in the contour point set as an initial contour point;
s312, sequentially traversing each contour point in the contour point set until the distance value between the contour point i and the initial contour point is larger than a set distance value;
and S313, taking the contour point i as a sampling contour point, taking the contour point i as an initial contour point, and executing the step S312 until the whole contour point set is traversed.
The further method for determining the radius of the concave arc is as follows:
s35, selecting a contour point on the concave arc, and calculating the distance r from the contour point to the center of the concave arc0Will be a distance r0As a radius predicted value of the candidate circle;
s36, generating candidate radius interval [ r ] of candidate circle based on radius estimation value0-a、r0+a]；
S37, sequentially taking radius values in the candidate radius intervals as radii and taking the circle centers of the concave circular arcs as circle centers to generate candidate circles;
and S38, calculating the distance square sum of all contour points on the concave arc to each candidate circle, and taking the radius of the candidate circle corresponding to the minimum distance square sum as the radius of the concave arc.
The invention identifies the image of the mouth ring to obtain the pose data of the mouth ring, and the mouth ring can be accurately installed on the mouth ring base based on the pose data of the mouth ring.
Drawings
FIG. 1 is a flow chart of a method for detecting a pose of a mouth ring of a pump body based on a visual image according to an embodiment of the present invention;
FIG. 2 is a color image src of a pump body orifice ring provided in accordance with an embodiment of the present invention;
FIG. 3 is a grayscale image of a pump body orifice ring provided by an embodiment of the present invention;
FIG. 4 is a binarized image of a pump body orifice ring provided in an embodiment of the present invention;
FIG. 5 is an erosion image of a pump body orifice ring provided by an embodiment of the present invention;
FIG. 6 is an expanded image of a pump body orifice ring provided by an embodiment of the present invention;
FIG. 7 is an outermost profile of a pump pocket ring provided in accordance with an embodiment of the present invention;
FIG. 8 is a minimum circle of encirclement of the outermost profile of the pump body orifice ring provided by an embodiment of the present invention;
FIG. 9 is a concave arc on the outermost profile of a pump pocket ring according to an embodiment of the present invention;
FIG. 10 is a center of a concave arc according to an embodiment of the present invention;
FIG. 11 is a circle of an inner concave arc according to an embodiment of the present invention;
FIG. 12 is a schematic view of the attitude of the mouth ring provided by the embodiment of the present invention;
fig. 13 is a schematic diagram of determining the center of an inward concave arc based on adjacent midperpendicular lines according to an embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 1 is a flowchart of a method for detecting a pose of a mouth ring of a pump body based on a visual image according to an embodiment of the present invention, where the method includes the following steps:
s1, sequentially carrying out graying and binarization processing on the input pump body orifice ring image to form a pump body orifice ring image src 1;
in the embodiment of the invention, a color image src of a pump body orifice ring acquired by an industrial camera is read, and as shown in fig. 2, the color image src is subjected to distortion elimination and noise reduction processing and then is converted into a gray image gray through a color space, as shown in fig. 3; selecting a proper threshold value to carry out binarization processing on the gray level image gray to obtain a binarization image bw, as shown in FIG. 4; since there is a non-interest region in the image close to the pixel value of the pump body aperture ring, the image processing strategy of performing erosion (as shown in fig. 5) and then expansion on the binary image eliminates the non-interest region as much as possible to form a pump body aperture ring image src1, as shown in fig. 6.
S2, detecting the outline of the outermost layer of the mouth ring of the pump body mouth ring image src1, wherein the outline of the outermost layer of the mouth ring is shown in figure 7, and a plurality of arc sections on the outline of the outermost layer of the mouth ring;
in the embodiment of the invention, the contour of the pump body orifice ring image src1 is detected, the contour of the outermost layer of the outlet ring is screened according to the area of the contour or the area of the minimum enclosing circle of the contour, and the contour corresponding to the maximum contour area and the minimum enclosing circle of the maximum area is the contour of the outer layer of the orifice ring.
In the embodiment of the invention, four concave arcs are uniformly distributed on the outline of the outer layer of the choma, and the detection method of the concave arcs comprises the following steps:
s21, finding the minimum enclosing circle of the outermost layer outline of the oral ring, wherein the minimum enclosing circle of the outermost layer outline of the oral ring is shown in FIG. 8;
s22, calculating the distance between each contour point on the contour of the outermost layer of the mouth ring and the center of the minimum enclosing circle;
s23, screening contour points with the distance smaller than the radius of the minimum enclosing circle, wherein the screened contour points form a plurality of concave arcs on the outermost contour of the pump body opening ring, and four concave arcs are shown in figure 9.
S3, determining the center and radius of the concave arc, and detecting whether the difference value between the radius value of the concave arc and the radius set value is within the deviation allowable range;
in the embodiment of the present invention, the method for determining the center of the concave arc specifically includes:
s31, performing ascending arrangement on the position coordinates of each contour point on each concave arc to form a contour point set, sampling contour points in the contour point set based on a set distance value, where the ascending arrangement refers to performing ascending arrangement on contour points based on an x value in the coordinates, and performing ascending arrangement on contour points based on a y value under the condition that the x values are the same, where the method for obtaining the sampling contour points specifically includes:
s311, taking the first contour point in the contour point set as an initial contour point;
s312, sequentially traversing each contour point in the contour point set until the distance value between the contour point i and the initial contour point is larger than a set distance value;
and S313, taking the contour point i as a sampling contour point, taking the contour point i as an initial contour point, and executing the step S312 until the whole contour point set is traversed.
The Euclidean distance between the contour points is used as a set distance value, all contour points in the contour point set are traversed, the first contour point contours [ i ] [0] in the contour point set is taken as an initial contour point, the data of the contour point set are traversed, if the distance between the contour point contours [ i ] [ j ] and the initial contour point is larger than the set distance value, the contour point contours [ i ] [ j ] is reserved, the contour point contours [ i ] [ j ] is a sampling contour point, otherwise, the sampling contour point is abandoned, and then the next contour point meeting the set distance value is searched by taking the contour point contours [ i ] [ j ] as the initial contour point until the traversal is finished.
S32, calculating the perpendicular bisectors of the line segments where the adjacent sampling contour points are located in sequence, acquiring the intersection points of all the adjacent perpendicular bisectors, and putting the intersection points into an intersection point set;
s33, sequentially taking each intersection point in the intersection point set as a circle center and a set distance threshold value as a radius to form a circular window, and counting the number of intersection points falling into the circular window;
s34, the average value of the coordinates of each intersection point in the circular window with the maximum intersection point number is the center of the concave circular arc, and the center of the concave circular arc is shown in figure 10.
In the embodiment of the invention, a perpendicular bisector equation of a line segment where adjacent sampling contour points are located is obtained, then the intersection point of the adjacent perpendicular bisectors is calculated, the intersection point is the center of a theoretically corresponding concave arc, and the intersection points of the adjacent perpendicular bisectors are sequentially solved to obtain an intersection point set. In the image pixel processing, errors exist inevitably, if the Euclidean distance between the specified intersection points is smaller than a distance threshold, the intersection points are regarded as the same intersection point area, the intersection point count in a certain intersection point area is the maximum, and the average value of the intersection point positions in the intersection point area is regarded as the center of a circle corresponding to the concave arc.
As shown in fig. 13, the intersection points of the perpendicular bisectors L1, L2, L3, and L4 are candidate points for the circle center, and the intersection points are the same point, so that the intersection points satisfy the set distance threshold range, and the maximum number of intersection points in the intersection point region is obtained, that is, the intersection points are regarded as the circle center corresponding to the arc; the intersection point of the chord perpendicular bisector L4 and the chord perpendicular bisector L5 is not regarded as the center of the circle corresponding to the circular arc if no other intersection point exists within the set distance threshold range.
In the embodiment of the present invention, the method for determining the radius of the concave arc specifically includes:
s35, selecting a contour point on the concave arc, and calculating the distance r from the contour point to the center of the concave arc0Will be a distance r0As a radius predicted value of the candidate circle;
s36, generating candidate radius interval [ r ] of candidate circle based on radius estimation value0-a、r0+a]；
S37, sequentially taking the radius value in the candidate radius interval as the radius and taking the center of the concave arc as the center of a circle to generate a candidate circle;
s38, calculating the distance square sum of all contour points on the concave arc to each candidate circle, and taking the radius of the candidate circle corresponding to the minimum distance square sum as the radius of the concave arc, wherein the circle where the concave arc is located is shown in FIG. 11.
S4, if the detection result is no, the mouth ring processing is unqualified, the detection of the mouth ring posture is stopped, and if the detection result is yes, the line segment L where the center of the minimum enclosing circle of the outmost layer outline of the mouth ring and the center of each concave arc are located is obtainedhAnd a line segment L parallel to the x axis and passing through the center of the minimum enclosing circlexCalculating the line segment LhAnd line segment LxThe minimum included angle is used as the posture of the pump body mouth ring, and the circle center of the minimum surrounding circle of the outmost layer outline of the mouth ring is the position of the pump body mouth ring.
Defining the line connecting the circle center of the minimum enclosing circle of the outmost layer outline of the pump body opening ring and the circle center of the circular arc as a line segment LhA line segment L parallel to the x-axis of the image and having a length equal to the radius of the smallest enclosing circle and passing through the center of the smallest enclosing circlexTwo salient points in the base of the mouth ring are positioned on a line segment LxOn the straight line, the line segment L is obtainedhAnd line segment LxThe four angle values are sorted as shown in fig. 12, the minimum angle value is taken as the posture data of the pump body opening ring, the placement position of the opening ring is calibrated based on the posture data of the opening ring by the end effector of the robot, and the salient point of the opening ring base is located in the concave arc.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims (5)

1. A pump body aperture ring pose detection method based on visual images is characterized by specifically comprising the following steps:
s1, sequentially carrying out graying and binarization processing on the input pump body orifice ring image to form a pump body orifice ring image src 1;
s2, detecting the outline of the outermost layer of the mouth ring of the pump body mouth ring image src1 and a plurality of concave arcs on the outline of the outermost layer of the mouth ring;
s3, determining the center and radius of the concave arc, and detecting whether the difference value between the radius value of the concave arc and the radius set value is within the deviation allowable range;
s4, if the detection result is yes, acquiring a line segment L where the center of the minimum enclosing circle of the outmost layer outline of the oral ring and the centers of all the inward concave circular arcs are locatedhAnd a line segment L parallel to the x axis and passing through the center of the minimum enclosing circlexCalculating the line segment LhAnd line segment LxThe minimum included angle is used as the posture of the pump body mouth ring, and the circle center of the minimum surrounding circle of the outmost layer outline of the mouth ring is the position of the pump body mouth ring.
2. The pump body aperture ring pose detection method based on the visual image as claimed in claim 1, wherein the detection method of the concave arc is as follows:
s21, solving a minimum enclosing circle of the outline of the outermost layer of the opening ring;
s22, calculating the distance between each contour point on the contour of the outermost layer of the mouth ring and the center of the minimum enclosing circle;
s23, screening contour points with the distance smaller than the radius of the minimum enclosing circle, wherein the screened contour points form a plurality of concave arcs on the outermost contour of the pump body opening ring.
3. The method for detecting the pose of the mouth ring of the pump body based on the visual image as claimed in claim 1, wherein the method for determining the circle center of the concave arc is as follows:
s31, arranging the position coordinates of each contour point on each concave arc in an ascending order to form a contour point set, and sampling the contour points in the contour point set based on a set distance value;
s32, calculating the perpendicular bisectors of the line segments where the adjacent sampling contour points are located in sequence, acquiring the intersection points of all the adjacent perpendicular bisectors, and putting the intersection points into an intersection point set;
s33, sequentially taking each intersection point in the intersection point set as a circle center and a set distance threshold value as a radius to form a circular window, and counting the number of intersection points falling into the circular window;
s34, the average value of the coordinates of each intersection point in the circular window with the maximum intersection point number is the center of the concave circular arc.
4. The pump body aperture ring pose detection method based on the visual image as claimed in claim 3, wherein the acquisition method of the sampling contour points is as follows:
s311, taking the first contour point in the contour point set as an initial contour point;
s312, sequentially traversing each contour point in the contour point set until the distance value between the contour point i and the initial contour point is larger than a set distance value;
and S313, taking the contour point i as a sampling contour point, taking the contour point i as an initial contour point, and executing the step S312 until the whole contour point set is traversed.
5. The pump body aperture ring pose detection method based on the visual image as claimed in claim 1, wherein the method for determining the radius of the concave arc is as follows:
s35, selecting a contour point on the concave arc, and calculating the distance r from the contour point to the center of the concave arc0Will be a distance r0As a radius predicted value of the candidate circle;
s36, generating candidate radius interval [ r ] of candidate circle based on radius estimation value0-a、r0+a]；
S37, sequentially taking the radius value in the candidate radius interval as the radius and taking the center of the concave arc as the center of a circle to generate a candidate circle;
and S38, calculating the distance square sum of all contour points on the concave arc to each candidate circle, and taking the radius of the candidate circle corresponding to the minimum distance square sum as the radius of the concave arc.
CN202011357360.9A 2020-11-27 2020-11-27 Pump body mouth ring pose detection method based on visual image Active CN112489009B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011357360.9A CN112489009B (en) 2020-11-27 2020-11-27 Pump body mouth ring pose detection method based on visual image

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011357360.9A CN112489009B (en) 2020-11-27 2020-11-27 Pump body mouth ring pose detection method based on visual image

Publications (2)

Publication Number Publication Date
CN112489009A true CN112489009A (en) 2021-03-12
CN112489009B CN112489009B (en) 2022-07-26

Family

ID=74935935

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011357360.9A Active CN112489009B (en) 2020-11-27 2020-11-27 Pump body mouth ring pose detection method based on visual image

Country Status (1)

Country Link
CN (1) CN112489009B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248100A (en) * 2021-12-03 2022-03-29 武汉纺织大学 Screw hole positioning algorithm and screw locking device based on image processing

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012091144A2 (en) * 2010-12-28 2012-07-05 Canon Kabushiki Kaisha Information processing apparatus and method
US20130155224A1 (en) * 2011-12-19 2013-06-20 Kabushiki Kaisha Topcon Rotation Angle Detecting Apparatus And Surveying Instrument
CN106767401A (en) * 2016-11-26 2017-05-31 江苏瑞伯特视觉科技股份有限公司 A kind of shaft hole series part based on cross laser and machine vision determines appearance localization method
CN108765378A (en) * 2018-05-07 2018-11-06 上海理工大学 The machine vision detection method of lower workpiece profile overlap protrusion is guided based on G code
WO2019090487A1 (en) * 2017-11-07 2019-05-16 大连理工大学 Highly dynamic wide-range any-contour-error monocular six-dimensional measurement method for numerical control machine tool
US20190186912A1 (en) * 2017-12-19 2019-06-20 Topcon Corporation Surveying Instrument
CN110390696A (en) * 2019-07-03 2019-10-29 浙江大学 A kind of circular hole pose visible detection method based on image super-resolution rebuilding
CN111161343A (en) * 2019-12-30 2020-05-15 芜湖哈特机器人产业技术研究院有限公司 Water pump orifice ring visual identification method
CN111504188A (en) * 2020-04-28 2020-08-07 湖北文理学院 Arc part measuring method and device based on machine vision

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012091144A2 (en) * 2010-12-28 2012-07-05 Canon Kabushiki Kaisha Information processing apparatus and method
US20130155224A1 (en) * 2011-12-19 2013-06-20 Kabushiki Kaisha Topcon Rotation Angle Detecting Apparatus And Surveying Instrument
CN106767401A (en) * 2016-11-26 2017-05-31 江苏瑞伯特视觉科技股份有限公司 A kind of shaft hole series part based on cross laser and machine vision determines appearance localization method
WO2019090487A1 (en) * 2017-11-07 2019-05-16 大连理工大学 Highly dynamic wide-range any-contour-error monocular six-dimensional measurement method for numerical control machine tool
US20190186912A1 (en) * 2017-12-19 2019-06-20 Topcon Corporation Surveying Instrument
CN108765378A (en) * 2018-05-07 2018-11-06 上海理工大学 The machine vision detection method of lower workpiece profile overlap protrusion is guided based on G code
CN110390696A (en) * 2019-07-03 2019-10-29 浙江大学 A kind of circular hole pose visible detection method based on image super-resolution rebuilding
CN111161343A (en) * 2019-12-30 2020-05-15 芜湖哈特机器人产业技术研究院有限公司 Water pump orifice ring visual identification method
CN111504188A (en) * 2020-04-28 2020-08-07 湖北文理学院 Arc part measuring method and device based on machine vision

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
FELIX WIDMAIER 等: ""Robot arm pose estimation by pixel-wise regression of joint angles"", 《2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)》 *
王君 等: ""基于单目视觉的简便零件位姿测量方法"", 《组合机床与自动化加工技术》 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114248100A (en) * 2021-12-03 2022-03-29 武汉纺织大学 Screw hole positioning algorithm and screw locking device based on image processing

Also Published As

Publication number Publication date
CN112489009B (en) 2022-07-26

Similar Documents

Publication Publication Date Title
CN109060836B (en) Machine vision-based high-pressure oil pipe joint external thread detection method
CN107622499A (en) A kind of identification and space-location method based on target two-dimensional silhouette model
US4845764A (en) Shape recognition apparatus
CN114764790B (en) Gear broken tooth detection method based on Hough circle detection
CN111832659B (en) Laser marking system and method based on feature point extraction algorithm detection
CN106251353A (en) Weak texture workpiece and the recognition detection method and system of three-dimensional pose thereof
CN106503704B (en) Circular traffic sign localization method in a kind of natural scene
CN107063261B (en) Multi-feature information landmark detection method for precise landing of unmanned aerial vehicle
CN117788467B (en) Defect image classification method for titanium metal plate
CN110942107B (en) Automatic composite grinding processing characteristic identification method based on part engineering image
CN115082462A (en) Method and system for detecting appearance quality of fluid conveying pipe
CN115439476B (en) Silk-screen defect detection method and device based on image analysis
CN115330767A (en) Method for identifying production abnormity of corrosion foil
CN112489009B (en) Pump body mouth ring pose detection method based on visual image
CN109190625A (en) A kind of container number identification method of wide-angle perspective distortion
CN115049667B (en) Gear defect detection method
CN114994051A (en) Intelligent integrated real-time detection system for punching of automobile numerical control forged part
CN115018846A (en) AI intelligent camera-based multi-target crack defect detection method and device
CN115240146A (en) Intelligent machine tool assembly acceptance method based on computer vision
Zou et al. Design of a new coded target with large coding capacity for close—range photogrammetry and research on recognition algorithm
CN112819842B (en) Workpiece contour curve fitting method, device and medium suitable for workpiece quality inspection
CN112036391B (en) Electronic inspection method and system based on shale gas field production station
CN114943710B (en) Method for positioning circle center of thin-wall circular tube type part by utilizing improved least square fitting
CN116612461A (en) Target detection-based pointer instrument whole-process automatic reading method
JPS6344103A (en) Apparatus for confirming position and posture

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant