Pose detection method of pump body mouth ring based on visual image

Abstract

The invention discloses a method for detecting the position and orientation of a pump body orifice ring based on a visual image, comprising: S1. Performing grayscale and binarization processing on an input pump body orifice ring image in sequence to form a pump body orifice ring image src1; S2. Detect the outermost contour of the mouth ring of the mouth ring image src1 of the pump body, and the concave arc on the outermost contour of the mouth ring; S3. Determine the center and radius of the concave arc, and detect the concave arc Whether the difference between the radius value and the radius setting value is within the allowable range of deviation; S4. If the detection result is yes, obtain the line segment L where the minimum enclosing circle center of the outermost contour of the mouth ring and the center of each concave arc circle are located h and the line segment L parallel to the x-axis and passing through the center of the minimum enclosing circle x , calculate the line segment L h with L x The minimum included angle is taken as the attitude of the mouth ring of the pump body, and the center of the smallest enclosing circle of the outermost contour of the mouth ring is the position of the mouth ring of the pump body. According to the invention, the image of the mouth ring is recognized and processed to obtain the pose data of the mouth ring, and the accurate installation of the mouth ring on the mouth ring base can be realized only based on the posture data of the mouth ring.

Description

technical field [0001] The invention belongs to the technical field of image detection, and more particularly, the invention relates to a method for detecting the pose of a pump body mouth ring based on a visual image. Background technique [0002] In the pump body manufacturing industry, the mouth ring is used as an installation component in the pump body, and it needs to be placed in the mouth ring base with convex points. The correct posture is that the convex point of the mouth ring base is inside the outer edge of the mouth ring. A concave arc surrounds the area. Most of the existing mouth rings are manually placed in the mouth ring base, which is time-consuming and labor-intensive, and the work efficiency is low. To realize the automatic installation of the mouth ring, the identification of the posture and posture of the mouth ring is the key and needs to be overcome. difficulty. SUMMARY OF THE INVENTION [0003] The present invention provides a method for detectin...

AI Technical Summary

Problems solved by technology

Most of the existing mouth rings are manually placed in the mouth ring base, which is time-consuming and labor-intensive, and the work efficiency is low. To realize the automatic installation of the mouth ring, the recognition of the pose of the mouth ring is the key and needs to be overcome. the difficulty

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