Flexible clamping device based on visual identification and identification method thereof

Abstract

The flexible clamping device comprises two supporting plates which are arranged in a mirror image mode, driving mechanisms are installed on the sides, away from each other, of the two supporting plates, installation grooves are formed in the sides, close to each other, of the two supporting plates, and a plurality of flexible clamping mechanisms are installed in a circumferential array mode with the circle centers of the installation grooves as base points. The circular pipe fitting can be efficiently and accurately corrected to coincide with the circle center of a plurality of flexible clamping mechanisms arranged in a circumferential array through the visual identification system, so that the flexible clamping mechanisms are uniform in clamping stress on the circular pipe fitting, the integrity of the appearance of the circular pipe fitting is guaranteed, and meanwhile, the inner clamping assembly is matched with the outer clamping assembly, so that the clamping efficiency is improved. The inner wall and the outer wall of the circular pipe fitting can be stressed and clamped at the same time, when the conveying device of the circular pipe fitting is loosened, the situation that the position of the circular pipe fitting deviates due to static friction force is avoided, and the circle center of the circular pipe fitting can always coincide with the circle center of a plurality of flexible clamping mechanisms arranged in a circumferential array mode.

Description

Technical Field

[0001] The invention belongs to the technical field of pipe clamping, and in particular relates to a flexible clamping device based on visual recognition and an identification method thereof. Background Art

[0002] A high-power density laser beam is used to irradiate the material to be cut, so that the material is quickly heated to the vaporization temperature and evaporates to form holes. As the beam moves on the material, the holes continuously form a very narrow slit to complete the cutting of the material. During the processing of round pipes, lasers are needed to cut the round pipes. During the cutting process, a clamping device is needed to limit and fix the round pipes.

[0003] Existing clamping devices directly clamp and fix the circular pipe. Since the center of the circular pipe cannot be guaranteed to coincide with the center of the clamping device, the portion of the circular pipe that first contacts the clamping device may be deformed due to uneven force. Summary of the invention

[0004] The present invention aims at solving the problems in the prior art and proposes the following technical solutions:

[0005] A flexible clamping device based on visual recognition and its recognition method, comprising two support plates arranged in mirror images, wherein a driving mechanism is installed on the side of the two support plates away from each other, and a mounting groove is provided on the side close to each other, and a plurality of flexible clamping mechanisms are installed in a circular array with the center of the mounting groove as the base point, wherein the driving mechanism is connected to the flexible clamping mechanism and is used to drive the plurality of flexible clamping mechanisms to open and close simultaneously, and a visual recognition system is provided on the side of the support plate close to the flexible clamping mechanism;

[0006] The visual recognition system includes an image acquisition module, an image processing module, a calculation module and a feedback module. The image acquisition module includes a visual recognition camera, which is detachably mounted on the center of the installation groove and is used to photograph the circular cross-section of the circular pipe and the opposite installation groove. The image processing module uses the Hough transform algorithm to perform circle detection. The calculation module is used to calculate the detected center coordinates and perform concentricity judgment. The feedback module adjusts the position of the circular pipe according to the calculation results so that the center of the circular pipe is aligned with the installation groove.

[0007] As a preferred embodiment of the above technical solution, the driving mechanism includes:

[0008] A connecting assembly, the connecting assembly comprising a thread sleeve, the outer wall of the thread sleeve is fixedly connected with a plurality of hinge seats 1, and the hinge seat 1 is connected with a connecting rod;

[0009] The driving assembly is detachably mounted on the support plate and is transmission-connected to the silk sleeve to drive the silk sleeve to move linearly.

[0010] As a preferred embodiment of the above technical solution, the driving component includes:

[0011] The motor is mounted on the support plate by bolts, and the output end of the motor is fixedly connected with a screw rod 1, and the screw rod 1 cooperates with the motor thread.

[0012] As a preferred embodiment of the above technical solution, the flexible clamping mechanism includes:

[0013] The inner clamping assembly includes a strip block, the strip block passes through the support plate, and both ends of the strip block are fixedly connected to a fixing seat, one of the fixing seats is fixedly connected to a hinge seat 2 on the side away from the strip block, and the other fixing seat is fixedly connected to a clamping plate 1, and the hinge seat 2 is connected to a connecting rod.

[0014] As a preferred embodiment of the above technical solution, the support plate is provided with a plurality of sliding openings in a circular array with the center of the installation groove as the base point, and both sides of each sliding opening are provided with sliding grooves opened on the side walls of the support plate, the strip block passes through the sliding opening, and the sides of the two fixed seats close to each other are fixedly connected with sliders, and the sliders are slidably connected to the sliding grooves.

[0015] As a preferred embodiment of the above technical solution, the flexible clamping mechanism further includes:

[0016] An external clamping assembly, which includes an L-shaped plate, wherein the L-shaped plate is fixed on a fixed seat close to clamping plate one, and a screw rod 2 is threadedly connected to the side of the L-shaped plate away from clamping plate one, one end of the screw rod 2 is fixedly connected to a knob, and the other end is rotatably connected to clamping plate two, and clamping plate two is fixedly connected to a guide slide rod, which passes through the L-shaped plate.

[0017] As a preferred embodiment of the above technical solution, a flexible pad 1 and a flexible pad 2 are fixedly connected to the sides of the clamping plate 1 and the clamping plate 2 that are close to each other, respectively.

[0018] The identification method of the flexible clamping device based on visual recognition comprises the following steps:

[0019] S1. Image acquisition:

[0020] The image of the circular cross section and installation groove of the circular pipe to be clamped is captured by a visual recognition camera to ensure that the image quality is high enough for subsequent processing;

[0021] S2, circle detection:

[0022] The image is transferred to the image processing module, and the circular contour in the image is detected using the Hough transform algorithm;

[0023] S3. Calculation of circle center coordinates:

[0024] Calculate the center coordinates and radius of each circle detected. The Hough transform provides the center coordinates and radius parameters of the circle, which are extracted for further processing;

[0025] S4. Concentricity judgment:

[0026] Compare the coordinates of the center of the circular section of the circular pipe to be clamped and the center of the installation groove, and calculate the distance between them. If the distance between the two center points is less than the preset tolerance range, the two circles are considered to be concentric;

[0027] S5. Real-time adjustment:

[0028] The calculation results are transmitted to the feedback module. If it is detected that the two circle centers do not coincide, the position of the circular pipe to be clamped is automatically adjusted until the circle centers are aligned, and it is moved to the clamping area of ​​the flexible clamping mechanism.

[0029] As a preferred embodiment of the above technical solution, the calculation of the center coordinates includes the following steps:

[0030] S31, circle detection:

[0031] The parameter space is a three-dimensional space, where each point represents the center coordinates (x, y) and radius r of a circle;

[0032] S32, edge detection:

[0033] Use edge detection algorithms to identify edge points in the image, which are potential candidates for circle edges;

[0034] S33, parameter space voting:

[0035] For each edge point, assume that it is part of a circle, calculate the possible center position of the point under different radius values, and accumulate these assumed center positions in the parameter space;

[0036] S34, find the peak:

[0037] In the parameter space, the combination of the center coordinates and the radius will form local peaks. By detecting the positions of these peaks, the most likely center coordinates (x, y) and radius r can be determined.

[0038] S35, center and radius extraction:

[0039] According to the peak value in the parameter space, the corresponding center coordinates and radius are extracted to determine the specific parameters of the circle.

[0040] The beneficial effects of the present invention are:

[0041] 1. The present invention can efficiently and accurately correct and coincide the center of a circular pipe with a plurality of flexible clamping mechanisms arranged in a circular array through a visual recognition system, so that the flexible clamping mechanism clamps the circular pipe evenly, thereby ensuring the integrity of the shape of the circular pipe;

[0042] 2. The present invention cooperates with the inner clamping component and the outer clamping component so that the inner and outer walls of the circular pipe can be clamped at the same time. When the conveying device of the circular pipe is released, the position of the circular pipe is prevented from being shifted due to static friction, so that the circular pipe can always keep the center of the circle coincident with the flexible clamping mechanism arranged in multiple circular arrays. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 What is shown is a schematic diagram of the structure of a flexible clamping device based on visual recognition in an embodiment;

[0044] Figure 2 What is shown is a schematic diagram of the structure of the flexible clamping mechanism and the visual recognition system in the embodiment;

[0045] Figure 3 What is shown is a schematic diagram of the structure of the flexible clamping mechanism in the embodiment;

[0046] Figure 4 What is shown is a schematic diagram of the structure of the support plate in the embodiment;

[0047] Figure 5 What is shown is a schematic diagram of the structure of the connecting component and the driving component in the embodiment;

[0048] Figure 6 What is shown is a schematic diagram of the structure of the inner clamping assembly and the outer clamping assembly in the embodiment;

[0049] Figure 7 Shown is a structural block diagram of a visual recognition system in an embodiment.

[0050] Description of reference numerals:

[0051] 100, support plate; 101, mounting groove; 102, slide; 103, slide; 200, drive mechanism; 210, connection assembly; 211, thread sleeve; 212, hinge seat 1; 213, connecting rod; 220, drive assembly; 221, motor; 222, screw rod 1; 300, flexible clamping mechanism; 310, inner clamping assembly; 311, bar block; 312, fixed seat; 313, slider; 314, hinge Connector 2; 315, clamping plate 1; 316, flexible pad 1; 320, external clamping assembly; 321, L-shaped plate; 322, screw rod 2; 323, knob; 324, clamping plate 2; 325, flexible pad 2; 326, guide slide; 400, visual recognition system; 410, image acquisition module; 411, visual recognition camera; 420, image processing module; 430, calculation module; 440, feedback module. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0053] Example 1

[0054] A flexible clamping device based on visual recognition and its recognition method include two support plates 100 arranged in mirror images, a driving mechanism 200 is installed on the side of the two support plates 100 away from each other, a mounting groove 101 is opened on the side close to each other, and a plurality of flexible clamping mechanisms 300 are installed in a circular array with the center of the mounting groove 101 as the base point, the driving mechanism 200 is connected to the flexible clamping mechanism 300, and is used to drive the plurality of flexible clamping mechanisms 300 to open and close at the same time, and a visual recognition system 400 is arranged on the side of the support plate 100 close to the flexible clamping mechanism 300; the visual recognition system 400 includes The image acquisition module 410, the image processing module 420, the calculation module 430 and the feedback module 440, the image acquisition module 410 includes a visual recognition camera 411, the visual recognition camera 411 is detachably mounted on the center of the mounting groove 101, and is used to photograph the circular cross-section of the circular pipe and the opposite mounting groove 101, the image processing module 420 uses the Hough transform algorithm to perform circle detection, the calculation module 430 is used to calculate the detected center coordinates and perform concentricity judgment, and the feedback module 440 adjusts the position of the circular pipe according to the calculation result so that it keeps the center aligned with the mounting groove 101.

[0055] Specifically, the visual recognition system 400 can efficiently and accurately correct the center of the circular pipe and the flexible clamping mechanism 300 arranged in a plurality of circular arrays to coincide with each other, so that the flexible clamping mechanism 300 can clamp the circular pipe evenly, thereby ensuring the integrity of the shape of the circular pipe. The flexible clamping mechanism 300 can clamp the inner and outer walls of the circular pipe at the same time, and when the conveying device of the circular pipe is released, the position of the circular pipe is prevented from being offset due to static friction, so that the circular pipe can always keep the center of the circle coincident with the flexible clamping mechanism 300 arranged in a plurality of circular arrays.

[0056] like Figure 1 and Figure 5 As shown, the driving mechanism 200 includes a connecting component 210 and a driving component 220, the connecting component 210 includes a wire sleeve 211, the outer wall of the wire sleeve 211 is fixedly connected with a plurality of hinge seats 212, the hinge seats 212 are connected with connecting rods 213, the driving component 220 is detachably mounted on the support plate 100, and the driving component 220 is transmission-connected with the wire sleeve 211 for driving the wire sleeve 211 to move linearly.

[0057] It should be noted that the driving assembly 220 can drive the wire sleeve 211 to move linearly, so that it moves toward or away from the side of the support plate 100, and at the same time, the connecting rod 213 can rotate with the hinge seat 212 as the base point. Multiple hinge seats 212 and connecting rods 213 are arranged in a circular array with the center of the wire sleeve 211 as the base point, and at the same time, the center of the wire sleeve 211 coincides with the center of the mounting groove 101.

[0058] like Figure 5 As shown, the driving assembly 220 includes a motor 221, which is mounted on the support plate 100 by bolts, and a screw rod 222 is fixedly connected to the output end of the motor 221, and the screw rod 222 is threadedly matched with the motor 221.

[0059] It should be noted that the driving assembly 220 is used to drive the wire sleeve 211 to move linearly, and may use but is not limited to using a cylinder.

[0060] Specifically, when the motor 221 drives the screw rod 222 to rotate, since the connecting rod 213 is connected to the flexible clamping mechanism 300, the screw sleeve 211 will move on the outer ring of the screw rod 222 through the threaded cooperation between the screw sleeve 211 and the screw rod 222. Compared with the motor 221 and the screw rod 222, the cylinder occupies less space and has a simpler structure, and the two methods can be freely selected.

[0061] Figure 1 , Figure 2 , Figure 3 and Figure 6As shown, the flexible clamping mechanism 300 includes an inner clamping component 310, and the inner clamping component 310 includes a bar block 311, the bar block 311 passes through the support plate 100, and both ends of the bar block 311 are fixedly connected with a fixed seat 312, one fixed seat 312 is fixedly connected with a hinge seat 2 314 on the side away from the bar block 311, and the other fixed seat 312 is fixedly connected with a clamping plate 1 315, and the hinge seat 2 314 is connected to the connecting rod 213.

[0062] It should be noted that the combination of the strip block 311 and the two fixing seats 312 forms an “I” shape, and the two fixing seats 312 are respectively fitted with two sides of the support plate 100 .

[0063] like Figure 3 , Figure 4 and Figure 6 As shown, the support plate 100 is provided with a plurality of sliding openings 102 in a circular array with the center of the mounting groove 101 as the base point, and both sides of each sliding opening 102 are provided with sliding grooves 103 opened on the side wall of the support plate 100, and the strip block 311 passes through the sliding opening 102, and the sides of the two fixed seats 312 close to each other are fixedly connected with sliders 313, and the sliders 313 are slidably connected to the sliding grooves 103.

[0064] Specifically, the number of the sliding openings 102 is the same as the number of the strip blocks 311, preferably an even number. The sliding cooperation between the slider 313 and the sliding groove 103 can increase the stability of the strip blocks 311 sliding inside the sliding opening 102. When the silk sleeve 211 moves in the direction close to the support plate 100, the multiple strip blocks 311 will expand toward the center of the circle away from the installation groove 101. When the silk sleeve 211 moves in the direction away from the support plate 100, the multiple strip blocks 311 will shrink toward the center of the circle close to the installation groove 101. Before the strip blocks 311 expand, the circular pipe fittings are corrected and overlapped with the center of the installation groove 101 through the visual recognition system 400, and the center pipe fittings are placed in the clamping area to abut against the support plate 100. After that, the multiple strip blocks 311 expand simultaneously to fix and clamp the center pipe fittings.

[0065] like Figure 6 As shown, the flexible clamping mechanism 300 also includes an external clamping component 320, which includes an L-shaped plate 321. The L-shaped plate 321 is fixed on a fixed seat 312 close to the clamping plate 315, and the side of the L-shaped plate 321 away from the clamping plate 315 is threadedly connected with a screw rod 322, one end of the screw rod 322 is fixedly connected with a knob 323, and the other end is rotatably connected with the clamping plate 324, and the clamping plate 324 is fixedly connected with a guide slide rod 326, and the guide slide rod 326 passes through the L-shaped plate 321.

[0066] It should be noted that the sides of the clamping plate 1 315 and the clamping plate 2 324 close to each other are fixedly connected with flexible pad 1 316 and flexible pad 2 325 respectively. The flexible characteristics of flexible pad 1 316 and flexible pad 2 325 can prevent the clamping plate 1 315 and the clamping plate 2 324 from directly contacting the circular pipe and causing damage.

[0067] Specifically, after the inner clamping assembly 310 fixes the inner wall of the circular tube, the knob 323 is rotated to drive the screw rod 322 to rotate together. Through the threaded cooperation with the L-shaped plate 321, and the cooperation of the guide slide bar 326 fixed on the clamping plate 324 and the L-shaped plate 321, the clamping plate 324 and the flexible pad 325 can be moved toward the outer wall of the circular tube, and the inner and outer walls of the circular tube can be clamped and fixed at the same time. When the conveying device of the circular tube is released, the position of the circular tube can be prevented from being offset due to static friction, so that the circular tube can always keep the center of the circle coincident with the flexible clamping mechanism 300 arranged in multiple circular arrays.

[0068] Example 2

[0069] like Figure 2 and Figure 7 As shown, the identification method of the flexible clamping device based on visual identification, compared with embodiment 1, this embodiment also includes the following steps:

[0070] S1. Image acquisition:

[0071] The image of the circular cross section of the circular pipe to be clamped and the installation groove 101 is captured by the visual recognition camera 411 to ensure that the image quality is high enough for subsequent processing;

[0072] S2, circle detection:

[0073] The image is transmitted to the image processing module 420, and the circular contour in the image is detected using the Hough transform algorithm;

[0074] S3. Calculation of circle center coordinates:

[0075] Calculate the center coordinates and radius of each circle detected. The Hough transform provides the center coordinates and radius parameters of the circle, which are extracted for further processing;

[0076] S4. Concentricity judgment:

[0077] Compare the coordinates of the center of the circular cross section of the circular pipe to be clamped and the center of the installation groove 101, calculate the distance between them, and if the distance between the two center points is less than a preset tolerance range, the two circles are considered to be concentric;

[0078] S5. Real-time adjustment:

[0079] The calculation result is transmitted to the feedback module 440 . If it is detected that the two circle centers do not coincide, the position of the circular pipe to be clamped is automatically adjusted until the circle centers are aligned, and the pipe is moved to the clamping area of ​​the flexible clamping mechanism 300 .

[0080] The calculation of the center coordinates includes the following steps:

[0081] S31, circle detection:

[0082] The parameter space is a three-dimensional space, where each point represents the center coordinates (x, y) and radius r of a circle;

[0083] S32, edge detection:

[0084] Use edge detection algorithms to identify edge points in the image, which are potential candidates for circle edges;

[0085] S33, parameter space voting:

[0086] For each edge point, assume that it is part of a circle, calculate the possible center position of the point under different radius values, and accumulate these assumed center positions in the parameter space;

[0087] S34, find the peak:

[0088] In the parameter space, the combination of the center coordinates and the radius will form local peaks. By detecting the positions of these peaks, the most likely center coordinates (x, y) and radius r can be determined.

[0089] S35, center and radius extraction:

[0090] According to the peak value in the parameter space, the corresponding center coordinates and radius are extracted to determine the specific parameters of the circle.

[0091] The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them.

Claims

1. A flexible clamping device based on visual recognition, characterized in that: The invention comprises two support plates (100) arranged in mirror images, wherein a driving mechanism (200) is installed on the side of the two support plates (100) that is away from each other, and a mounting groove (101) is provided on the side that is close to each other, and a plurality of flexible clamping mechanisms (300) are installed in a circular array with the center of the mounting groove (101) as a base point, wherein the driving mechanism (200) is connected to the flexible clamping mechanism (300) and is used to drive the plurality of flexible clamping mechanisms (300) to open and close simultaneously, and a visual recognition system (400) is provided on the side of the support plate (100) that is close to the flexible clamping mechanism (300); The visual recognition system (400) comprises an image acquisition module (410), an image processing module (420), a calculation module (430) and a feedback module (440); the image acquisition module (410) comprises a visual recognition camera (411); the visual recognition camera (411) is detachably mounted on the center of the installation slot (101) and is used to photograph the circular cross section of the circular pipe and the opposite installation slot (101); the image processing module (420) uses a Hough transform algorithm to perform circular detection; the calculation module (430) is used to calculate the coordinates of the detected center of the circle and perform concentricity judgment; and the feedback module (440) adjusts the position of the circular pipe according to the calculation result so that the center of the circular pipe is aligned with the installation slot (101).

2. The flexible clamping device based on visual recognition according to claim 1 is characterized in that: The driving mechanism (200) comprises: A connecting assembly (210), the connecting assembly (210) comprising a thread sleeve (211), the outer wall of the thread sleeve (211) being fixedly connected to a plurality of hinged seats (212), and the hinged seats (212) being connected to connecting rods (213); A driving assembly (220) is detachably mounted on the support plate (100), and the driving assembly (220) is drivingly connected to the silk sleeve (211) to drive the silk sleeve (211) to move linearly.

3. The flexible clamping device based on visual recognition according to claim 2 is characterized in that: The driving assembly (220) comprises: A motor (221), wherein the motor (221) is mounted on the support plate (100) by means of bolts, and a screw rod (222) is fixedly connected to the output end of the motor (221), and the screw rod (222) is threadedly matched with the motor (221).

4. The flexible clamping device based on visual recognition according to claim 2 is characterized in that: The flexible clamping mechanism (300) comprises: An inner clamping assembly (310), the inner clamping assembly (310) comprising a strip block (311), the strip block (311) passing through the support plate (100), and both ends of the strip block (311) are fixedly connected to fixed seats (312), one side of the fixed seat (312) away from the strip block (311) is fixedly connected to a hinge seat 2 (314), and the other fixed seat (312) is fixedly connected to a clamping plate 1 (315), and the hinge seat 2 (314) is connected to a connecting rod (213).

5. The flexible clamping device based on visual recognition according to claim 4, characterized in that: The support plate (100) is provided with a plurality of sliding openings (102) in a circular array with the center of the mounting groove (101) as a base point, and both sides of each sliding opening (102) are provided with sliding grooves (103) opened on the side wall of the support plate (100), the strip block (311) passes through the sliding opening (102), and the two sides of the two fixing seats (312) close to each other are fixedly connected with sliding blocks (313), and the sliding blocks (313) are slidably connected to the sliding grooves (103).

6. The flexible clamping device based on visual recognition according to claim 4, characterized in that: The flexible clamping mechanism (300) further comprises: An external clamping assembly (320), the external clamping assembly (320) comprising an L-shaped plate (321), the L-shaped plate (321) being fixed on a fixing seat (312) close to a clamping plate (315), and a screw rod (322) being threadedly connected to a side of the L-shaped plate (321) away from the clamping plate (315), one end of the screw rod (322) being fixedly connected to a knob (323), and the other end being rotatably connected to a clamping plate (324), the clamping plate (324) being fixedly connected to a guide slide rod (326), and the guide slide rod (326) passing through the L-shaped plate (321).

7. The flexible clamping device based on visual recognition according to claim 6, characterized in that: The sides of the clamping plate 1 (315) and the clamping plate 2 (324) close to each other are respectively fixedly connected with a flexible pad 1 (316) and a flexible pad 2 (325).

8. The identification method of a flexible clamping device based on visual recognition according to any one of claims 1 to 7, characterized in that: The following steps are included: S1. Image acquisition: Using a visual recognition camera (411) to capture images of the circular cross section of the circular pipe to be clamped and the installation groove (101), ensuring that the image quality is high enough to facilitate subsequent processing; S2, circle detection: The image is transmitted to an image processing module (420) and a circular contour in the image is detected using a Hough transform algorithm; S3. Calculation of circle center coordinates: Calculate the center coordinates and radius of each circle detected. The Hough transform provides the center coordinates and radius parameters of the circle, which are extracted for further processing; S4. Concentricity judgment: Comparing the coordinates of the center of the circular cross section of the circular pipe to be clamped and the center of the installation groove (101), calculating the distance between them, and if the distance between the two center points is less than a preset tolerance range, the two circles are considered to be concentric; S5. Real-time adjustment: The calculation result is transmitted to the feedback module (440). If it is detected that the two circle centers do not coincide, the position of the circular pipe to be clamped is automatically adjusted until the circle centers are aligned, and it is moved to the clamping area of ​​the flexible clamping mechanism (300).

9. The identification method of the flexible clamping device based on visual recognition according to claim 8, characterized in that: The calculation of the center coordinates includes the following steps: S31, circle detection: The parameter space is a three-dimensional space, where each point represents the center coordinates (x, y) and radius r of a circle; S32, edge detection: Use edge detection algorithms to identify edge points in the image, which are potential candidates for circle edges; S33, parameter space voting: For each edge point, assume that it is part of a circle, calculate the possible center position of the point under different radius values, and accumulate these assumed center positions in the parameter space; S34, find the peak: In the parameter space, the combination of the center coordinates and the radius will form local peaks. By detecting the positions of these peaks, the most likely center coordinates (x, y) and radius r can be determined. S35, center and radius extraction: According to the peak value in the parameter space, the corresponding center coordinates and radius are extracted to determine the specific parameters of the circle.

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