CN115100211B - Intelligent regulation and control method for surface polishing speed of metal plate by robot - Google Patents
Intelligent regulation and control method for surface polishing speed of metal plate by robot Download PDFInfo
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Abstract
The invention discloses an intelligent regulation and control method for the surface polishing speed of a robot metal plate, and relates to the technical field of machine vision; the method comprises the following steps: acquiring a gray image of the surface of a metal plate to be polished; dividing the gray-scale image into a plurality of sub-images; acquiring the average value of the gray value of the pixel points of each sub-image and a gray histogram, and acquiring the kurtosis of the gray histogram; acquiring the weight of a pixel point in a rough area of each subimage; acquiring the sharpening degree of each sub-image; obtaining the relative distribution probability of pixel points of each subimage; acquiring the surface roughness of a corresponding area in the to-be-detected metal plate corresponding to each subimage; acquiring the moving speed of the grinding tool in the metal plate area corresponding to each sub-image; regulating and controlling the moving speed of the polishing robot in different areas of the metal plate according to the moving speed; the technical problems that in the related art, the machining precision and the machining efficiency of the grinding robot in the grinding process are low are solved.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to an intelligent regulation and control method for the surface polishing speed of a metal plate by a robot.
Background
With the maturity of robot technology, robots are beginning to be applied to the automation transformation and upgrade of polishing and grinding industry. The application of the industrial robot in the grinding industry is a novel production process in the application range of the robot in recent years, is used for replacing traditional manual work to carry out grinding and polishing work on workpieces, is mainly used for the surface grinding, edge and corner deburring, welding line grinding, inner cavity and inner hole deburring, thread machining and other works of the workpieces, and faces the industries of bathroom hardware industry, IT industry, automobile parts, industrial parts, medical appliances, wood building material furniture manufacturing, civil products and the like. The robot has the main advantages of: the grinding quality and the product smoothness are improved, and the consistency of the grinding quality and the product smoothness is ensured; the production rate is improved, and 24 \8197hcontinuous production can be realized in one day; the labor condition of workers is improved, and the workers can work for a long time in a harmful environment; the requirement on the operation technology of workers is reduced; the period of product modification and generation is shortened, and corresponding investment equipment is reduced; redevelopability, the user can perform secondary programming according to different sample pieces. The polishing machine has the characteristics of long-term polishing operation, high production rate, high quality, high stability and the like of products.
Modern science and technology develops rapidly, and higher requirements are put forward on a robot control system and polishing equipment in a polishing process; the common grinding machine mainly depends on manual grinding, so that the problems of low grinding yield, poor working environment and high labor intensity often exist; the numerical control grinding machine tool has high cost but poor universality; the flexible grinding system of the robot has the advantages of high flexibility, good universality, low cost and the like. However, compared with a numerical control machine tool, the machining precision grade of the existing industrial robot is much worse, and how to improve the machining precision and the machining efficiency of the grinding robot in the grinding process is a technical problem to be solved urgently in the existing robot grinding process.
Disclosure of Invention
The invention aims to provide an intelligent regulation and control method for the polishing speed of the surface of a metal plate by a robot, which aims to solve the technical problems that the polishing robot has low processing precision and low processing efficiency in a polishing process in the related technology; in view of the above, the present invention is achieved by the following technical solutions.
An intelligent regulation and control method for the polishing speed of the surface of a metal plate by a robot comprises the following steps:
acquiring a gray image of the surface of a metal plate to be polished;
acquiring the contact area between a polishing tool in a polishing robot and a to-be-polished metal plate, determining the segmentation specification of the gray image according to the contact area, and segmenting the gray image into a plurality of sub-images according to the segmentation specification; obtaining the average value of the gray value of the pixel point of each sub-image;
acquiring a gray level histogram of each sub-image, and acquiring the kurtosis of the gray level histogram;
acquiring a rough area of each sub-image by using the kurtosis of the gray level histogram of each sub-image;
obtaining the ratio of the number of each gray-level pixel point in the rough area in each sub-image according to the number of the pixel points in each sub-image and the number of each gray-level pixel point in the corresponding rough area;
acquiring the weight of the pixel points in the rough area in each sub-image according to the ratio of the number of the pixel points in each gray level in the rough area in each sub-image and the kurtosis of the gray level histogram of the sub-image;
acquiring the gray value gradient mean value of longitudinal pixel points of each sub-image, and acquiring the sharpening degree of each sub-image according to the gray value gradient mean value of each sub-image and the weight of the coarse area pixel points;
respectively traversing all pixel points of each sub-image to obtain a gray scale change curve of the pixel points of each sub-image; acquiring the period and height of each slope in the gray scale change curve; obtaining the relative distribution probability of the pixel points of each sub-image according to the period and the height;
acquiring the surface roughness of the to-be-polished metal plate region corresponding to each subimage according to the average value of the gray value of the pixel points of each subimage, the sharpening degree and the relative distribution probability of the pixel points;
obtaining the polishing time of the to-be-polished metal plate area corresponding to each subimage by utilizing the surface roughness of the to-be-polished metal plate area corresponding to each subimage; acquiring the moving speed of the grinding tool in the metal plate area corresponding to each subimage by using the grinding time of the metal plate area to be ground corresponding to each subimage; and regulating and controlling the moving speed of the grinding robot in different areas of the metal plate according to the moving speed of the grinding tool in the area of the metal plate corresponding to each sub-image.
Preferably, the process of acquiring the rough region of each sub-image according to the kurtosis of the gray level histogram further includes setting a threshold, and acquiring the rough region of each sub-image through the threshold.
More preferably, the threshold is a ratio of an area of the sub-image to the number of gray levels in a gray level histogram corresponding to the sub-image.
More preferably, the weight of the pixel point in the rough region in the sub-image is determined by the following formula:
in the formula (I), the compound is shown in the specification,
weighting the pixel points in the rough area in the subimage;
the sum of the number of pixel points of each gray level in the rough area in the subimage and the number of pixel points of the subimage is calculated;Uthe kurtosis of the gray level histogram corresponding to the sub-image.
More preferably, the mean gray value gradient of all the longitudinal pixel points of the sub-image is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the gray value gradient mean value of all longitudinal pixel points of the subimages is obtained;
the coordinates of pixel points in the subimages are
The gray value of the pixel point;
the coordinates of pixel points in the subimages are
The gray value of the pixel point;
is the length of the sub-image.
More preferably, the sharpening degree of the sub-image is a product of the gray value gradient mean value of all longitudinal pixel points of the sub-image and the weight of the pixel points in the rough region.
Preferably, the process of obtaining the relative distribution probability of the pixel points of the sub-image is as follows:
sequentially traversing all pixel points of the subimages to obtain a gray value change curve of the pixel points; acquiring the period and the height of each slope in the gray value change curve; and obtaining the surface influence degree of each slope, and solving the variance of all the surface influence degrees to obtain the relative distribution probability of pixel points of the sub-images.
More preferably, the degree of surface influence of the slope is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the degree of surface influence of the slope;
a period that is a ramp;
is the height of the slope;
the variance of the absolute value of the gray value difference value of all two adjacent pixel points in the slope is obtained.
More preferably, the surface roughness of the corresponding area in the metal plate to be detected corresponding to the sub-image is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the surface roughness of the corresponding area in the metal plate to be detected corresponding to the subimage;
the sharpening degree of the sub-image;
the relative distribution probability of the pixel points of the subimages;
the average value of the gray values of the pixels of the sub-images.
Preferably, the kurtosis of the gray histogram is determined by the following formula:
U
in the formula (I), the compound is shown in the specification,Ukurtosis of the gray level histogram;
is the first in the grey level histogram
The number of pixel points corresponding to each gray level;
the ratio of the number of pixel points corresponding to all gray levels to the number of gray levels is obtained;
is the number of gray levels in the gray histogram.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an intelligent regulation and control method for the polishing speed of the surface of a metal plate by a robot, which comprises the following steps: acquiring a gray image of the surface of a metal plate to be polished; dividing the gray-scale image into a plurality of sub-images; acquiring the average value of the gray value of the pixel point of each sub-image; acquiring a gray level histogram of each sub-image, and acquiring the kurtosis of the gray level histogram; acquiring the weight of a pixel point in a rough area of each subimage; acquiring the gray value gradient mean value of longitudinal pixel points of each sub-image, and acquiring the sharpening degree of each sub-image according to the gray value gradient mean value of each sub-image and the weight of the coarse area pixel points; obtaining the relative distribution probability of pixel points of each subimage; acquiring the surface roughness of a corresponding area in the to-be-detected metal plate corresponding to each subimage according to the average value of the gray value of the pixel point of each subimage, the sharpening degree and the relative distribution probability of the pixel points; obtaining the polishing time of the to-be-polished metal plate area corresponding to each subimage by utilizing the surface roughness of the to-be-polished metal plate area corresponding to each subimage; acquiring the moving speed of the grinding tool in the metal plate area corresponding to each subimage by using the grinding time of the metal plate area to be ground corresponding to each subimage; regulating and controlling the moving speed of the polishing robot in different areas of the metal plate according to the moving speed of the polishing tool in the area of the metal plate corresponding to each sub-image; the invention solves the technical problems of low processing precision and low processing efficiency of the grinding robot in the grinding process in the related technology.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an intelligent polishing speed control method according to embodiment 1 of the present invention;
fig. 2 is a schematic flow chart of another polishing speed intelligent control method provided in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment provides an intelligent regulation and control method for the surface polishing speed of a robot metal plate, and as shown in fig. 1, the method comprises the following steps:
s101, obtaining a gray image of the surface of a metal plate to be polished; acquiring the contact area between a polishing tool in a polishing robot and a to-be-polished metal plate, determining the segmentation specification of the gray image according to the contact area, and segmenting the gray image into a plurality of sub-images according to the segmentation specification; obtaining the average value of the gray value of the pixel point of each sub-image;
s102, acquiring a gray level histogram of each sub-image, and acquiring the kurtosis of the gray level histogram; acquiring a rough area of each sub-image by using the kurtosis of the gray level histogram of each sub-image; obtaining the ratio of the number of the pixels at each gray level in the rough area in each sub-image according to the number of the pixels in each sub-image and the number of the pixels at each gray level in the corresponding rough area; acquiring the weight of the pixel points in the rough area in each sub-image according to the ratio of the number of the pixel points in each gray level in the rough area in each sub-image and the kurtosis of the gray level histogram of the sub-image; acquiring the gray value gradient mean value of longitudinal pixel points of each sub-image, and acquiring the sharpening degree of each sub-image according to the gray value gradient mean value of each sub-image and the weight of the pixel points in the rough area;
s103, respectively traversing all pixel points of each sub-image to obtain a gray scale change curve of the pixel points of each sub-image; acquiring the period and the height of each slope in the gray level change curve; obtaining the relative distribution probability of the pixel points of each sub-image according to the period and the height; acquiring the surface roughness of a corresponding area in the to-be-detected metal plate corresponding to each subimage according to the average value of the gray value of the pixel points of each subimage, the sharpening degree and the relative distribution probability of the pixel points;
s104, obtaining the polishing time of the metal plate area to be polished corresponding to each subimage by utilizing the surface roughness of the metal plate area to be polished corresponding to each subimage; acquiring the moving speed of a grinding tool in the metal plate area corresponding to each sub-image by using the grinding time of the metal plate area to be ground corresponding to each sub-image; regulating and controlling the moving speed of the polishing robot in different areas of the metal plate according to the moving speed of the polishing tool in the area of the metal plate corresponding to each sub-image;
example 2
The embodiment provides an intelligent regulation and control method for the surface polishing speed of a robot metal plate, and as shown in fig. 1, the method comprises the following steps:
s201, obtaining a metal plate and a grinding wheel; collecting a surface image of a metal plate to obtain a gray image of the surface image; the diameter of the grinding wheel is
Actual area of metal plate
Area of gray scale image
Then, the gray image can be divided into the specifications according to the proportion relation
A sub-image of, the length of, the sub-image
Determined by the following formula:
in the formula (I), the compound is shown in the specification,
is the length of the sub-image;
grinding the diameter of a grinding wheel;
is the area of the grayscale image;
actual area of sheet metal;
the specification of the image in the present embodiment is
The expression is the product of the number of horizontal pixel points and the number of vertical pixel points of the subimage, and the length of the image is generally expressed by the number of the horizontal or vertical pixel points of the image in the field;
determining the segmentation specification of the gray image according to the process amount
Dividing the gray-scale image into a plurality of sub-images according to the division specification; obtaining the average value of the gray value of the pixel point of each subimage
；
It should be noted that each sub-image of the present embodiment corresponds to an area in the metal plate, and the surface roughness of the metal plate area corresponding to the sub-image can be obtained by performing feature analysis on the sub-image; the specification of the regions of the metal sheet is determined by the diameter of the grinding wheel, and the specification of each region of the metal sheet is
；
S202, acquiring a gray level histogram of each sub-image, and acquiring the kurtosis of each gray level histogram; the kurtosis of the histogram is determined by:
U
in the formula (I), the compound is shown in the specification,Ukurtosis of the gray level histogram;
is the first in the gray histogram
The number of pixel points corresponding to each gray level;
the ratio of the number of pixels corresponding to all gray levels to the number of gray levels,
represents the average value;
the number of gray levels in the gray level histogram;
the kurtosis of the histogram corresponding to each sub-image can be obtained through the stepsU(ii) a Determining the gray level of a rough area in each sub-image according to a threshold value by setting the threshold value; acquiring the number ratio of pixel points of each gray level in the rough area to pixel points of sub-images in which the rough area is located; acquiring the weight of the pixel points in the rough area in each sub-image according to the ratio of the total number of each sub-image and the kurtosis of the gray level histogram corresponding to the sub-image;
the threshold is the ratio of the area of the sub-image to the number of gray levels in the gray level histogram corresponding to the sub-image, and the threshold is equal to
Is shown in which
Is the area of the sub-image,
the number of gray levels in the gray level histogram of the sub-image; according to a threshold value
The number of pixel points corresponding to the gray level in the gray level histogram is smaller than a threshold value
The gray level of (a) is determined as the gray level of the rough area; obtaining the ratio of the number of pixel points of each gray level in the rough area to the number of sub-image pixel points in the rough area
(ii) a To the ratio of the total amount
Summing to obtain a number-to-number sum
(ii) a According to kurtosis of grey level histogram
And the sum of the amounts
The weight of the pixel point in the rough area in each subimage can be obtained
(ii) a Weight of coarse region pixel point in subimage
Is determined by the following formula:
in the formula (I), the compound is shown in the specification,
weighting the pixel points in the rough area in the subimage;
the sum of the number of pixel points of each gray level in the rough area in the subimage and the number of pixel points of the subimage is calculated;Uthe kurtosis of the gray level histogram corresponding to the sub-image;
the weight of the rough area pixel point of the rough area in each sub-image can be obtained through the process;
s203, acquiring gray value gradient mean values of all longitudinal pixel points of the subimages from left to right and from top to bottom respectively; the gray value gradient mean value of all longitudinal pixel points of the subimages is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the gray value gradient mean value of all longitudinal pixel points of the subimages is obtained;
the coordinates of pixel points in the subimages are
The gray value of the pixel point;
the coordinates of pixel points in the subimages are
The gray value of the pixel point;
the length of the sub-image refers to the number of pixel points;
the gray value gradient mean value of all longitudinal pixel points of each sub-image can be obtained through the formula; according to the gray value gradient mean value of all longitudinal pixel points of the subimage
And the weight of the pixel point in the rough area
The degree of sharpening of each sub-image can be obtained
(ii) a Degree of sharpening of sub-images
Is the gray value gradient mean value of all longitudinal pixel points of the subimage
And the weight of the pixel point in the rough area
The product of (a);
s204, respectively traversing all pixel points of each sub-image to obtain a pixel point gray value change curve of each sub-image; acquiring the period and the height of each slope in the gray value change curve; obtaining the relative distribution probability of the pixel points of each subimage according to the period and the height; the acquisition process of the relative distribution probability of the pixel points of the subimages is as follows: sequentially traversing all pixel points of the subimages to obtain a pixel point gray value change curve; acquiring the period and the height of each slope in the change curve; obtaining the surface influence degree of each slope, and solving the variance of all the surface influence degrees to obtain the relative distribution probability of pixel points of the sub-images; the degree of surface influence of the ramp is determined by the following equation:
in the formula (I), the compound is shown in the specification,
the degree of surface influence of the slope;
a period of a ramp;
is the height of the slope;
the variance of the absolute value of the gray value difference value of all two adjacent pixel points of the slope is obtained;
obtaining variance of all surface influence degrees to obtain relative distribution probability of pixel points of subimages
；
Acquiring the surface roughness of the metal plate region corresponding to each subimage according to the average value of the gray value of the pixel point of each subimage, the sharpening degree and the relative distribution probability of the pixel points; the surface roughness of the metal sheet area corresponding to the subimage is determined by:
in the formula (I), the compound is shown in the specification,
the surface roughness of the metal plate area corresponding to the subimage;
the sharpening degree of the sub-image;
the relative distribution probability of the pixel points of the subimages;
the average value of the gray values of the pixel points of the sub-images is obtained;
s205, obtaining polishing time according to the surface roughness; setting a threshold value of the polishing roughness, obtaining a plurality of small metal plates which have the same specification and different surface roughness and are made of the same material as the metal plate, and obtaining the surface roughness of each small metal plate; the specification of the small metal plate is
，
Represents a small metal plate, the specification of which is the same as that of each area of the metal plate material in the present embodiment;
polishing each small metal plate until the surface roughness is a threshold value of polishing roughness, and acquiring polishing time of each small metal plate; drawing a function image by taking the surface roughness of each small metal plate as a vertical coordinate and the grinding time of each small metal plate as a horizontal coordinate; the function image is a function image of the surface roughness and the polishing time; grinding time corresponding to different surface roughness can be obtained according to the function image;
obtaining each surface roughness from the functional image
Corresponding grinding time
(ii) a According to the grinding time of the metal plate area corresponding to each subimage
And the width of the sheet metal area
Determining the speed of the grinding wheel in the area of the metal sheet
(ii) a The moving speed direction is that the grinding wheel moves from one end of the metal plate area to the other end, in the embodiment, the length of each metal plate area is the same as the diameter of the grinding wheel;
moving speed of grinding wheel in metal plate area corresponding to each sub-image
For grinding the diameter of the grinding wheel and the grinding time of the metal plate area corresponding to the subimage
The ratio of (A) to (B);
the moving speed of the grinding wheel in different areas of the metal plate can be obtained through the process; and regulating and controlling the moving speed of the grinding robot in different areas of the metal plate according to the moving speed of the grinding wheel in the area of the metal plate corresponding to each sub-image.
In the embodiment, the metal plate is divided into regions by the diameter of the grinding wheel, and the specification of each region of the metal plate is
(ii) a The moving speed is obtained according to the diameter of the grinding wheel and the grinding time in this embodiment.
Embodiments 1 and 2 of the present invention respectively provide an intelligent robot metal plate surface polishing speed control method, including: acquiring a gray image of the surface of a metal plate to be polished; dividing the gray-scale image into a plurality of sub-images; acquiring the average value of the gray value of the pixel points of each sub-image and a gray histogram, and acquiring the kurtosis of the gray histogram; acquiring the weight of a pixel point in a rough area of each subimage; acquiring the sharpening degree of each sub-image; acquiring the relative distribution probability of the pixel points of each subimage; acquiring the surface roughness of a corresponding area in the to-be-detected metal plate corresponding to each subimage; acquiring the moving speed of the grinding tool in the metal plate area corresponding to each sub-image; regulating and controlling the moving speed of the polishing robot in different areas of the metal plate according to the moving speed; the technical problems that the grinding robot in the related technology is low in machining precision and machining efficiency in the grinding process are solved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The intelligent regulation and control method for the surface polishing speed of the metal plate by the robot is characterized by comprising the following steps of:
acquiring a gray image of the surface of a metal plate to be polished;
acquiring the contact area between a polishing tool in a polishing robot and a to-be-polished metal plate, determining the segmentation specification of the gray image according to the contact area, and segmenting the gray image into a plurality of sub-images according to the segmentation specification; acquiring the average value of the gray value of the pixel point of each sub-image;
acquiring a gray level histogram of each sub-image, and acquiring the kurtosis of the gray level histogram;
acquiring a rough area of each sub-image by using the kurtosis of the gray level histogram of each sub-image;
obtaining the ratio of the number of each gray-level pixel point in the rough area in each sub-image according to the number of the pixel points in each sub-image and the number of each gray-level pixel point in the corresponding rough area;
acquiring the weight of the pixel points in the rough area in each sub-image according to the ratio of the number of the pixel points in each gray level in the rough area in each sub-image and the kurtosis of the gray level histogram of the sub-image;
acquiring the gray value gradient mean value of longitudinal pixel points of each sub-image, and acquiring the sharpening degree of each sub-image according to the gray value gradient mean value of each sub-image and the weight of the pixel points in the rough area;
respectively traversing all pixel points of each sub-image to obtain a gray scale change curve of the pixel points of each sub-image; acquiring the period and height of each slope in the gray scale change curve; obtaining the relative distribution probability of the pixel points of each sub-image according to the period and the height;
acquiring the surface roughness of the to-be-polished metal plate region corresponding to each subimage according to the average value of the gray value of the pixel points of each subimage, the sharpening degree and the relative distribution probability of the pixel points;
acquiring the polishing time of the metal plate area to be polished corresponding to each subimage by using the surface roughness of the metal plate area to be polished corresponding to each subimage; acquiring the moving speed of the grinding tool in the metal plate area corresponding to each subimage by using the grinding time of the metal plate area to be ground corresponding to each subimage; and regulating and controlling the moving speed of the grinding robot in different areas of the metal plate according to the moving speed of the grinding tool in the area of the metal plate corresponding to each sub-image.
2. The intelligent regulation and control method for the grinding speed of the surface of the metal plate by the robot as claimed in claim 1, wherein the process of obtaining the rough area of each sub-image according to the kurtosis of the gray level histogram further comprises setting a threshold value, and obtaining the rough area of each sub-image through the threshold value.
3. The intelligent regulation and control method for the surface grinding speed of the metal plate by the robot of claim 2, wherein the threshold is a ratio of the area of the sub-image to the number of gray levels in a gray level histogram corresponding to the sub-image.
4. The intelligent regulation and control method of the surface grinding speed of the robot metal plate as claimed in claim 3, wherein the weight of the pixel points in the rough area in the subimage is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the weight of the pixel point in the rough area in the subimage is taken as the weight;
the sum of the number of pixel points of each gray level in the rough area in the subimage and the number of pixel points of the subimage is calculated;Uthe kurtosis of the gray level histogram corresponding to the sub-image.
5. The intelligent regulation and control method of the surface grinding speed of the metal plate by the robot according to claim 4, wherein the mean value of the gray value gradient of all longitudinal pixel points of the sub-images is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the gray value gradient mean value of all longitudinal pixel points of the subimages is obtained;
the coordinates of pixel points in the subimages are
The gray value of the pixel point;
the coordinates of pixel points in the subimages are
The gray value of the pixel point;
is the length of the sub-image.
6. The intelligent robot metal plate surface grinding speed regulation and control method of claim 5, wherein the sharpening degree of the sub-image is a product of a mean value of gray value gradients of all longitudinal pixel points of the sub-image and weights of pixel points in a rough area.
7. The intelligent regulation and control method for the surface polishing speed of the metal plate by the robot according to claim 1, wherein the process of obtaining the relative distribution probability of the pixel points of the subimages is as follows:
sequentially traversing all pixel points of the subimages to acquire a gray value change curve of the pixel points; acquiring the period and the height of each slope in the gray value change curve;
and acquiring the surface influence degree of each slope, and calculating the variance of all the surface influence degrees to obtain the relative distribution probability of the pixel points of the sub-images.
8. The intelligent regulation and control method of the surface grinding speed of the metal plate by the robot of claim 7, wherein the degree of influence of the surface of the slope is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the degree of surface influence of the slope;
a period that is a ramp;
is the height of the slope;
the variance of the absolute value of the gray value difference value of all two adjacent pixel points in the slope is obtained.
9. The intelligent robot metal plate surface grinding speed regulation and control method according to claim 8, wherein the surface roughness of the corresponding region in the to-be-detected metal plate corresponding to the subimage is determined by the following formula:
in the formula (I), the compound is shown in the specification,
the surface roughness of the corresponding area in the metal plate to be detected corresponding to the subimage;
the sharpening degree of the sub-image;
the relative distribution probability of the pixel points of the subimages;
the average value of the gray values of the pixel points of the sub-images is obtained.
10. The intelligent regulation and control method for the polishing speed of the surface of the metal plate by the robot as claimed in claim 1, wherein the kurtosis of the gray level histogram is determined by the following formula:
U
in the formula (I), the compound is shown in the specification,Ukurtosis which is a gray level histogram;
is the first in the gray histogram
The number of pixel points corresponding to each gray level;
the ratio of the number of pixel points corresponding to all gray levels to the number of gray levels is obtained;
is the number of gray levels in the gray histogram.
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| CN115294143B (en) * | 2022-10-10 | 2022-12-30 | 雷锘家具(南通)有限公司 | Automatic polishing method for plane of plate for furniture manufacturing |
| CN115661120B (en) * | 2022-11-14 | 2023-03-10 | 江西捷锐机电设备有限公司 | Cutting quality detection method for numerical control gold steel wire ingot splitting machine |
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