Detecting and positioning method for laser cross at any angle

Abstract

The present invention discloses a detecting and positioning method for a laser cross at any angle. The detecting and positioning method comprises the following steps of: (1) conducting noise reduction and binary processing on an original image comprising the laser cross to acquire a binary image; (2) aimed at the binary image, extracting all binary sub-image blocks possibly comprising the laser cross; (3) judging whether each binary sub-image block comprises the laser cross or not in sequence, and when the binary sub-image block comprising the laser cross is determined, stopping subsequent judgment; and (4) determining the position and the angle of the laser cross in the original image according to the binary sub-image block comprising the laser cross. The detecting and positioning method has the advantages of low influence of camera distortion, wide application range and high efficiency. The detecting and positioning method does not depend on straight line detection, and can realize detection and positioning of the laser cross at any rotating angle.

Description

technical field [0001] The invention relates to the field of visual positioning, in particular to a fast visual detection and positioning method of a laser cross at any angle. Background technique [0002] At present, using laser crosshairs for positioning is a method widely used in industry, and is widely used in drilling, cutting, shoemaking, clothing, woodworking machinery and other industries. In recent years, with the in-depth development of machine vision technology, it has become an important research and development direction of automatic laser positioning to use image processing methods to extract the cross center point of the laser cross to achieve the acquisition of positioning points. [0003] However, the current common visual automatic laser positioning methods often have strict requirements on the environment and configuration. For example, the Chinese invention patent "Range measuring laser point positioning method based on remote ranging system realized by l...

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Problems solved by technology

[0007] In order to solve the technical problem of high requirements on the environment and configuration existing in the positioning method based on the laser cross in the prior art, and not being suitable for the straight line bending caused by the distortion of the camera, the present invention provides a method for detecting and positioning the laser cross at any angle, which includes the following steps:

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