CN112489009B - Pump body mouth ring pose detection method based on visual image - Google Patents
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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 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, obtaining a line segment L where the centers of the minimum enclosing circle and the concave arcs of the outline of the outmost layer of the mouth ring are located h And a line segment L parallel to the x-axis and passing through the center of the minimum enclosing circle x Calculating the line segment L h And L x The 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
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, the 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 correct position of the placement is that the convex points of the mouth ring base are in an inwards concave arc surrounding area of the outer edge of the mouth ring. 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 method for detecting the pose of a pump body orifice ring 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 located h And a line segment L parallel to the x axis and passing through the center of the minimum enclosing circle x Calculating the line segment L h And line segment L x The minimum included angle is taken as the posture of the pump body opening ring, and the circle center of a minimum surrounding circle of the outline of the outermost layer of the opening ring isPosition of the pump body orifice 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 mouth 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 minimum surrounding circle radius, 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 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, taking a set distance threshold value as a radius, forming 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 circle 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, calculating the distance r from the contour point to the center of the concave arc 0 Will beDistance r 0 As a radius predicted value of the candidate circle;
s36, generating candidate radius interval [ r ] of candidate circle based on radius estimated value 0 -a、r 0 +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 circular 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 circular arc.
The invention identifies and processes the mouth ring image 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 bounding circle of the outermost profile of the pump 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 view of the center of the concave arc according to the 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 a concave arc based on adjacent midperpendicular provided by the embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to help those skilled in the art to more fully, accurately and deeply understand the inventive concept and technical solution of the present invention by describing the embodiments with reference to the accompanying drawings.
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, as shown in fig. 2, and after distortion elimination and noise reduction processing are performed on the color image src, the color image src 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 outer layer profile of the mouth ring, and the detection method of the concave arcs comprises the following steps:
s21, obtaining the minimum enclosing circle of the outline of the outermost layer of the mouth ring, wherein the minimum enclosing circle of the outline of the outermost layer of the mouth ring is shown in figure 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, traversing each contour point in the contour point set in sequence 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 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 a starting contour point, data of the contour point set are traversed, if the distance between the contour point contours [ i ] [ j ] and the starting contour point is larger than the set distance value, the contour point contours [ i ] [ j ] is reserved, the contour point contours [ i ] [ j ] is used as a sampling contour point, otherwise, the sampling contour point is abandoned, then the contour point contours [ i ] [ j ] is taken as the starting contour point, and the next contour point meeting the set distance value is searched 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, taking a set distance threshold value as a radius, forming 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 an intersection point of adjacent perpendicular bisectors is calculated, the intersection point is the center of a theoretically corresponding concave circular 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, and satisfy the set distance threshold range, and the maximum number of intersection points in the intersection point region is satisfied, that is, the intersection point is regarded as the circle center corresponding to the circular 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, calculating the distance r from the contour point to the center of the concave arc 0 A distance r 0 As a radius predicted value of the candidate circle;
s36, generating candidate radius interval [ r ] of candidate circle based on radius estimated value 0 -a、r 0 +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 obtained h And a line segment L parallel to the x axis and passing through the center of the minimum enclosing circle x Calculating the line segment L h And line segment L x The minimum included angle is used as the posture of the pump body mouth ring, and the circle center of a minimum surrounding circle of the outline of the outermost layer of the mouth ring is the position of the pump body mouth ring.
Defining the connection line of the circle center of the minimum enclosing circle of the outermost layer outline of the pump body opening ring and the circle center of the circular arc as a line segment L h A 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 circle x Two salient points in the mouth ring base are positioned on the line segment L x On the straight line, the line segment L is obtained h And line segment L x The 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 mouth ring pose detection method based on a visual image is characterized by 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, obtaining a line segment L where the centers of the minimum enclosing circle and the concave arcs of the outline of the outmost layer of the mouth ring are located h And a line segment L parallel to the x axis and passing through the center of the minimum enclosing circle x Calculating the line segment L h And line segment L x The minimum included angle is used as the posture of the pump body mouth ring, and the circle center of a minimum surrounding circle of the outline of the outermost layer of the mouth ring is the position of the pump body mouth ring.
2. The visual-image-based pump body aperture ring pose detection method according to claim 1, wherein 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.
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 circle 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 visual-image-based pump body aperture ring pose detection method according to claim 1, wherein the radius determination method of the concave arc specifically comprises the following steps:
s35, selecting a contour point on the concave arc, calculating the distance r from the contour point to the center of the concave arc 0 Will be a distance r 0 As a radius predicted value of the candidate circle;
s36, generating candidate radius interval [ r ] of candidate circle based on radius estimation value 0 -a、r 0 +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 circular 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 circular arc.
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