The invention discloses a method for detecting the movement position and posture of the terminal end of a
hybrid automobile electrophoretic
coating conveying mechanism. First, the image information of the
hybrid automobile electrophoretic
coating conveying mechanism is obtained in real time through a binocular camera. Then weighted filtering is performed based on the spatial
geometric distance of pixels and the similarity of pixels, and non-maximum suppression and
hysteresis thresholding are used to suppress error edges, and the method of
cluster analysis is used to extract the terminal connections of complex mechanisms in the parameter space after
space mapping The feature points of the rod. Design a moving
mask along the main direction of the feature points, describe the feature points in the
mask area based on the discrete
Gaussian-Hermit moments, and further calculate the
similarity criterion between feature vectors based on the
Euclidean distance, and filter the feature point pairs to obtain high-precision The
characteristic point pairs at the end of the
hybrid automobile electrophoretic
coating conveying mechanism. Finally, based on the built
binocular vision model and the extracted feature point pairs, the high-precision three-dimensional
pose parameters of the end of the mechanism are obtained after coordinate transformation.