Visual segmentation and positioning method for head of bolt of rolling mill

Abstract

The invention discloses a visual segmentation and positioning method for a bolt head of a rolling mill, and the method comprises the following steps: 1, sequentially carrying out the straight-through filtering and voxel filtering of an obtained original three-dimensional point cloud, and completing the preprocessing; 2, segmenting a top plane point cloud of the head of the target bolt from the preprocessed point cloud; 3, the robot demonstrates a standard bolt with the same specification as the target bolt, a standard bolt pose matrix is obtained, visual collection and segmentation are carried out, a standard bolt head top plane point cloud is obtained, and the standard bolt head top plane point cloud serves as a template bolt point cloud; and 4, identifying and positioning the head pose of the target bolt. According to the method, accurate segmentation of rolling mill bolt head top plane point clouds is achieved according to the position characteristics of rolling mill bolts, a template bolt library is established according to different rolling mill bolt specifications and sizes, a robot is guided to move in place, the positioning accuracy is high, and the positioning speed is high.

Description

technical field [0001] The invention relates to a method for segmenting and locating a three-dimensional point cloud, in particular to a method for segmenting and locating a three-dimensional point cloud of a bolt head of a rolling mill, and belongs to the technical field of image processing. Background technique [0002] With the continuous development of the economy and society, the demand for bar products in my country is increasing day by day, and the quality requirements for bars are also getting higher and higher, which puts forward new requirements for the relevant equipment for producing bars, especially rolling mills. In the production of bars, the pass of the rolls will be worn to varying degrees, and the roughness cannot meet the rolling requirements, resulting in the rolled bar size exceeding the tolerance and affecting the bar quality. Therefore, rapid and timely roll change can improve production efficiency. and product quality are of great significance. The t...

AI Technical Summary

Problems solved by technology

[0003] At present, the dismantling of rolling mill bolts in the world mainly relies on semi-automatic mechanical equipment to assist manual operations. The working hours are long, the efficiency is low, the labor intensity of the workers is high, and the safety factor is low.

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