Image processing method for automatic steel plate bending angle measurement robot based on monocular vision

An image processing and automatic measurement technology, applied in image data processing, image analysis, graphics and image conversion, etc., to reduce interference edge points, reduce false edge points, and reduce the amount of calculation.

Active Publication Date: 2019-01-29
HANGZHOU WOPUWULIAN SCI & TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] The purpose of the present invention is to provide an image processing method based on a monocular vision-based robot for automatic measurement of steel plate bending angles, aiming at solving the problem of high-precision measurement of steel plate bending angles

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  • Image processing method for automatic steel plate bending angle measurement robot based on monocular vision
  • Image processing method for automatic steel plate bending angle measurement robot based on monocular vision

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Embodiment 1

[0033] The image processing method of the robot for automatically measuring steel plate folding angle based on monocular vision in the embodiment of the present invention includes the following steps:

[0034] Step 1, input the real-time cross-sectional image I of the steel plate kink angle to be detected;

[0035] Step 2: Rotate and cut image I to obtain a small image containing folded edges.

[0036]In the actual steel plate knuckle image I, the knuckle opening is upward, the knuckle angle is about 90 degrees, and the angle between the left and right folds and the vertical direction is about 45 degrees. side is L 1 , the upper edge on the left side is L 2 ;

[0037] (2.1) Rotate the image α=45 degrees clockwise to obtain the image I', and calculate the vertex V' after the vertex V is rotated;

[0038] (2.2) Extend the vertex V' upward to take the long bar graph S 2 Includes hem L 2 ', extend the vertex V' to the right and take the small bar graph S 1 , the graph S 1 ...

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Abstract

The invention discloses a monocular vision based image processing method for an automatic measuring robot for a steel plate folding angle. The method comprises steps as follows: a section image of a real-time shot steel plate folding angle is input; steel plate edgefold small images are formed through segmenting according to the position of the folding angle; the steel plate edgefold is subjected to detection, screening and linear fitting of edge points; an included angle degree of the steel plate folding angle is calculated according to a straight line obtained through fitting of inner and outer side edges of two sides of a steel plate. With the adoption of the method, the bending angle of the steel plate can be calculated accurately, the operation time is short, and the method can be used for real-time automated detection of steel plate folding angle measurement; the large-size image is segmented into the small images containing the edgefold for processing, interference caused by external environment is reduced, and the calculated quantity is greatly reduced; a large quantity of false edge points in the background is reduced, interference edge points caused by uneven illumination of the edgefold and interference edge points in edgefold bulges are reduced, and the phenomenon of unsmooth connection of the steel plate due to bends formed at two ends of the edgefold and influence of the deformed part caused by illumination in the middle section are reduced.

Description

technical field [0001] The invention belongs to the technical field of industrial automation, and in particular relates to an image processing method of a robot for automatically measuring steel plate folding angles based on monocular vision. Background technique [0002] The measurement of the bending angle of the steel plate is mainly used for the judgment of the qualified steel plate and the adjustment of the strength of the steel plate bending and rolling knife. [0003] The traditional solution for measuring the bending angle of the steel plate generally uses a caliper to perform multiple manual measurements, and then takes the average value. This solution needs to suspend steel plate bending production on the production line, which reduces the work efficiency of steel plate processing. [0004] In order to ensure the accuracy of angle measurement, the pictures taken of the angled section have higher resolution and larger size, and the processing time of the whole pict...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/13G06T7/12G06T7/60G06T3/60G06T7/181
CPCG06T3/60G06T7/60
Inventor 袁涌耀
Owner HANGZHOU WOPUWULIAN SCI & TECH
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