945 results about "Fiducial points" patented technology

The invention discloses a point cloud differential defect detection system and detection method based on multi-feature fusion, which are mainly used for high-precision detection of surface defects of a side wallboard of a railway passenger car, and the method comprises the following steps: obtaining datum point cloud data through a designed standard side wallboard model of the railway passenger car, and collecting real-time point cloud data through a laser scanner; preprocessing the obtained point cloud data; calculating the difference between the real-time point cloud and the reference point cloud by adopting a difference method for fusing geometric features such as Euclidean distance, curvature and normal vector, namely calculating the Euclidean distance difference, curvature difference and normal vector difference between the reference point cloud and the real-time point cloud; and a comprehensive abnormal score is generated by further combining a dynamic weight fusion mechanism, and different region characteristics (such as a plane, a curved surface and an edge region) are adapted through dynamic threshold adjustment. According to the method, the defect region is segmented through the clustering algorithm, and the defect area and depth are quantified. The method has the advantages of high detection precision, strong adaptability and good real-time performance, and is suitable for complex surface defect detection in industrial production.

The invention relates to a steel structure component virtual pre-assembly method based on three-dimensional laser scanning. Designing a self-adaptive hierarchical scanning strategy, and dynamically adjusting parameters of scanning equipment to obtain data of each region of the component; abnormal points are detected and eliminated by fusing scanning data of different levels; datum points are extracted, coordinate calibration is carried out, data of all levels are spliced, and a full-component three-dimensional point cloud model is formed; classifying the point clouds by using a multi-dimensional data analysis algorithm; establishing a closed-loop data verification system; designing a multi-feature point matching algorithm; performing iterative docking and position calibration through an algorithm; quantitative analysis is carried out on spatial deviation between the components in the assembling process; after the deviation is detected, a fine adjustment scheme is generated, and the position of the component is adjusted; a virtual pre-assembly path is generated according to the shapes, the connection modes and the installation sequence of the components, and the assembly sequence and the layout of spatial positions are controlled; and the assembly state of each component is monitored in real time, and the path is optimized and adjusted through a feedback mechanism.

The invention provides a building construction site safety monitoring and early warning method and system based on the Internet of Things, and relates to the technical field of data processing.The method comprises the steps that a three-base-point dynamic topological structure is established in a target monitoring domain, a first datum point is arranged at the extension end of the axis vertical line of a slewing bearing of a tower crane, and a second datum point is arranged at the extension end of the axis vertical line of the slewing bearing of the tower crane; the second datum point is embedded in the radial section of a force bearing flange plate of the hydraulic jacking module, the third datum point is fixedly connected to the intersection joint of a deep foundation pit top beam and a supporting system, and a non-collinear vector set is constructed through three-point coordinate offset; and based on the non-collinear vector group, deformation compensation correction is performed on the dynamic calibration parameter set through a vector space topological transformation algorithm, a topological reconstruction data stream containing a displacement gradient tensor and strain energy density is generated, and a risk situation feature space is constructed based on the topological reconstruction data stream. According to the invention, the intelligent construction safety management is realized.

The invention provides an automatic assembling method and system for an automobile safety belt pretensioner based on machine vision, and relates to the technical field of automatic assembly.The method comprises the steps that firstly, images of standard parts of the pretensioner are collected, geometrical characteristic parameters are extracted, and the mapping relation from two-dimensional image coordinates to three-dimensional space coordinates is established; calculating coordinates of an assembly reference point and an assembly path point; acquiring a real-time image of a to-be-assembled part, extracting feature data, matching the feature data with a standard part, calculating a position deviation value and an angle deviation value, and updating an assembly path point coordinate; and controlling the robot to execute assembly, and dynamically adjusting the assembly speed and the assembly strength of the robot based on the assembly state evaluation index after data fusion of the force sensor and the displacement sensor until automatic assembly is completed.

The invention discloses a laser radar point cloud positioning method in a degraded environment based on feature point enhancement, and the method comprises the following steps: fusing a laser radar and an IMU sensor through employing a tight coupling method, and compensating the motion distortion of laser radar point cloud data; line and plane features of tunnel point clouds and local features in tunnels, such as signs and lighting systems, are extracted in a self-adaptive manner. Feature enhancement is carried out by predicting a virtual point. And carrying out feature matching registration by combining the feature points and fusing the pose matrix pre-integrated by the IUM. Coordinate conversion is carried out to convert the point cloud data from an absolute coordinate system of the laser radar to a world coordinate system by introducing a reference point; and a factor graph optimization algorithm is introduced at the rear end to improve the mapping and positioning precision. According to the method, the laser radar and the IMU sensor are fused, and adaptive feature extraction is adopted for feature matching, so that high-precision mapping and positioning can be completed in a long tunnel degradation environment.

The invention relates to the technical field of industrial product surface quality detection, in particular to a flexible display module surface defect image recognition method, which comprises the following steps: acquiring a plurality of surface images of a flexible display module under different light sources and carrying out distortion removal processing on the surface images; reconstructing and generating three-dimensional reference point cloud data representing the current curved surface form of the module; re-projecting the distorted image to the ideal rigid plane according to the relationship, generating a plurality of corrected images, and generating a plurality of corrected images to eliminate geometric and luminosity distortion introduced by flexible deformation; obtaining a defect candidate area binary image; and extracting a multi-dimensional feature vector of the defect candidate region from the binary image of the defect candidate region, and classifying the feature vector by using a pre-trained defect classification model to obtain a defect identification result. Through the three-dimensional reference point cloud reconstruction and image re-projection technology, the problem of geometric distortion caused by surface deformation of the flexible display module is effectively solved, and misjudgment and missed judgment are avoided.

The invention relates to the technical field of robot navigation, and discloses a safety inspection robot multi-mode navigation system fused with subconscious learning. The system obtains a visual image, a depth distance, an inertial measurement unit and other multi-dimensional perception data of an inspection environment, performs environment feature extraction to generate an environment semantic topological graph, and constructs a dynamic navigation cost map and a preliminary navigation path according to the environment semantic topological graph. During path execution, the system detects abnormal navigation behaviors in real time, extracts the features of the abnormal navigation behaviors and obtains a first correction coefficient. And the system judges whether the implicit environment semantic identifier is identified, and if the implicit environment semantic identifier is identified, the corresponding path key node is taken as a semantic navigation reference point, a final navigation path is generated through fusion, and a time stamp is recorded. And if the time stamp exceeds the preset tolerance, extracting a corresponding second correction coefficient. And the system combines the basic navigation performance evaluation value, the first correction coefficient and the second correction coefficient to output a multi-modal navigation decision result.

The invention relates to the technical field of image analysis, in particular to a dispensing track optimization control system based on visual template conversion, which comprises a visual template analysis module, a contour point position correction module, a track vector generation module, a multi-parameter linkage feedback module and an optimal path planning module. According to the method, a boundary is extracted through clustering pixel superposition brightness and channel weight, a line segment frequency screening track is counted, feature stability and precision are enhanced through datum line construction, a deviation value is calculated through gradient direction segmentation boundary, a matching degree is improved through tangent point interpolation correction contour, and a weight factor is generated through included angle change and tool parameter normalization. A reference point is optimized through superposition increment, a path fusion tool attribute dynamic adaptation parameter is adopted, a multi-dimensional data fusion visual offset and floating weight real-time adjustment track is acquired, an execution point and an adjustment vector are superposed to calculate a distance matrix, an optimal path is screened through minimum distance and energy consumption, efficiency and consumption are both considered, and the system robustness and execution economical efficiency are remarkably improved.

The embodiment of the invention provides a vision-based wood board edge sealing length detection method and system and a medium, and the method comprises the steps: obtaining a wood board image, and carrying out the graying processing of the wood board image, and obtaining a gray image; analyzing the edge area of the wood board based on the gray level image, generating a maximum connected domain, and making a detection surrounding frame according to the maximum connected domain to obtain a detection area; acquiring an image pixel value in the detection area, generating wood board boundary information based on the image pixel value, and generating wood board contour information according to the wood board boundary information; establishing a reference point according to the board contour information, establishing a coordinate system based on the reference point, and generating board boundary coordinates according to the coordinate system; calculating the distance between two coordinates located on the same boundary based on the boundary coordinates of the wood board to obtain a distance value, and obtaining a long edge and a short edge of the sealed edge of the wood board according to the distance value; the measurement method based on vision is not limited by detection point positions, the problem of edge sealing detection position errors is effectively avoided, and the long edge and the short edge of the wood board edge sealing are accurately analyzed.

The invention discloses a building construction quality control method, and relates to the technical field of building engineering, and the method comprises the steps: building a BIM model; setting an observation station, and performing three-dimensional laser scanning on the constructed building part on the site according to the observation station to obtain a plurality of scanning images; splicing the plurality of scanning images based on the reference point to obtain a three-dimensional point cloud model; selecting a common reference point, moving the BIM model and the three-dimensional point cloud model to the common reference point to enable the two models to coincide, and checking and comparing deviations existing in key point positions on model components; calculating a variance according to the deviation, and determining whether to re-customize the curtain wall plate or not according to the variance; and 3, on the basis of the three-dimensional point cloud model obtained in the step 3, determining whether to re-establish the model according to the variance. According to the method, the real object is converted into the model through field scanning, the model and the BIM model are subjected to superposition comparative analysis, the deviation between the model and the BIM model is rapidly and accurately measured, and BIM model parameters and special-shaped curtain wall plate customization parameters are conveniently corrected in time.

The invention discloses a tactile positioning method and device and electronic equipment, and belongs to the technical field of tactile sensors. A positioning block set is arranged on the surface of a target object, and the method comprises the steps that under the condition that a mechanical arm makes contact with the target object, a first image corresponding to the target object is obtained, the first image comprises a plurality of target positioning points, and the target positioning points are determined based on positioning blocks, making contact with the mechanical arm, in the positioning block set; acquiring a second image including a plurality of reference points based on the first image; and based on the offset information of each target positioning point and the closest reference point, determining the contact position information of the manipulator in contact with the target object. According to the technical scheme, decoding operation can be carried out to determine the contact position information based on the offset information of each target positioning point and the closest reference point, comparison and matching with other feature information are not needed, the tactile positioning efficiency can be improved, and quick response of the manipulator is achieved.

The invention relates to a transcranial magnetic stimulation high-precision positioning method, device and equipment based on optical navigation. Comprising the steps of selecting non-coplanar reference points based on a three-dimensional brain model of a patient, obtaining image coordinates and physical coordinates of all the reference points, carrying out corresponding point matching through the image coordinates and the physical coordinates, calculating and generating an optimal rigid transformation matrix, carrying out target registration error calculation, and realizing registration of an image coordinate system and a physical coordinate system. And according to the registered brain tissue conductivity parameters, calculating electric field space distribution induced by the transcranial magnetic stimulation coil in a target brain area, dynamically correcting stimulation target point coordinates of the virtual coil, and according to a completed coordinate system registration result, dynamically displaying the position and direction of the virtual coil corresponding to the transcranial magnetic stimulation coil on the three-dimensional brain model. And synchronously updating the brain slice view based on the corrected target point coordinates, and highlighting the actually stimulated brain region boundary. According to the method, adaptive neural navigation is driven through electric field remapping, and compensation target point correction is achieved.

The invention discloses an HDI micro blind hole laser drilling processing method and system, and relates to the field of HDI drilling processing, CO2 laser drilling is firstly carried out on a plate, then UV laser shaping is carried out, finally quality detection is carried out, and the core is that a plurality of local datum points distributed in a matrix mode are preset on the HDI plate to be processed. In the CO2 laser drilling process, the drilling task and the positioning action of the local datum point are executed alternately through a control program. By periodically measuring the actual position of the adjacent local datum point in the machining period, the dynamic position offset generated in the area due to the heat effect can be captured in real time, and the machining coordinates of the follow-up target drilling point in the area can be corrected in real time through the offset. The continuous local dynamic compensation effectively overcomes the dynamic thermally induced deformation problem which cannot be handled by the traditional single global correction, so that the drilling precision in the large-size and high-density machining process is ensured.

The invention discloses a terminal crimping quality detection method and system, and relates to the technical field of terminal crimping image detection. Comprising the steps that space coordinates of a standard datum point in a crimping image are determined, and the standard datum point is used for representing the space coordinate position, meeting the standard terminal crimping inspection standard, between a corresponding wire and a terminal notch. According to the method, the crimping samples which do not meet the standard terminal crimping inspection standard are rapidly removed in a spatial positioning mode, and then the crimping sample thermal imaging images which do not meet the standard terminal crimping inspection standard are obtained on the crimping surfaces of the crimping samples by means of trigger logic. According to the method, the crimping samples are detected, the invisible faults of the crimping samples are judged based on the set standard terminal crimping inspection standard, and finally different commands are input to the crimping equipment according to the types and severity levels of the invisible faults, so that the rapid detection of the crimping samples and the dynamic adjustment of the crimping equipment are realized, and the stability of the monitoring dimension of the crimping quality is ensured.

A reference point is arranged on the ground to calibrate a ground world coordinate system, a robot base coordinate system is established based on robot base features, and a rigid transformation matrix between the two is calculated to achieve spatial alignment. A multi-sensor network is constructed, a visual sensor and a laser radar are associated to a double-reference coordinate system, and data are synchronously collected and unified to the same coordinate system. And according to the spatial consistency error of the data, dynamically evaluating the credibility weight of the sensor, constructing a joint error equation, and based on least square method optimization, weighting fusion data and outputting calibration parameters. According to the invention, the problems of dependence on single sensor precision, lack of a system-level calibration scheme and complex calibration process are solved, and the calibration precision and efficiency of the robot system are improved.

The invention relates to the technical field of camera calibration, and discloses a camera array calibration method, device and equipment based on optical center coordinate priori, and the method comprises the steps: obtaining a reference image collected by a target camera in a camera array, and extracting the two-dimensional coordinates of each preset reference point in a pixel coordinate system; obtaining the three-dimensional coordinates of each preset reference point in the world coordinate system, and constructing a conversion relation between the two-dimensional coordinates and the three-dimensional coordinates of each preset reference point; based on the conversion relation between the two-dimensional coordinates and the three-dimensional coordinates of the preset datum points, parameters of the target camera are determined through null-space analysis; and optimizing the parameters of the target camera by using a preset optimization method to obtain optimized parameters of the target camera. According to the invention, through conversion between the two-dimensional coordinates and the three-dimensional coordinates of the plurality of reference points, the camera parameters are determined through null-space analysis, calibration of the camera array without the common view field is realized, the efficiency, precision and stability of field calibration of the camera array are improved, and the measurement precision of a vision measurement system is guaranteed.

The invention belongs to the technical field of PCB detection equipment, particularly relates to a flying probe test probe deviation compensation method, device and equipment and a medium, and provides a method for directly calculating and compensating deviation through a flying probe machine camera system. According to the method, the center of the driving end of the probe serves as a reference point, the probe is controlled to move in the preset direction till the visual center position coincides with the preset position of a target plate, related coordinates and distance values are obtained through a camera system, the motion compensation value of the probe to be compensated is calculated and determined, and finally the driving end is controlled to move to complete deviation compensation. According to the invention, external tools are not needed, rapid and accurate needle point deviation compensation is realized, and the test efficiency and precision of the flying probe machine are improved.

The invention discloses an electrical pin position deviation detection method and system and electronic equipment, and belongs to the technical field of visual processing, and the method comprises the steps: determining a reference region and a reference point, and then determining a standard template used for aligning and matching an image through the reference region and the reference point in a standard workpiece; after a detection image is obtained, an alignment area is determined according to the corresponding position of a reference area in a reference template in the detection image, then the position of a first detection point is determined in the detection image by taking the alignment area as a reference according to the relative position relation between the reference area and a reference point, and the first detection point is a point aligned with the reference point in the detection image. The reference point is also a reference point for position offset judgment; image elements are determined, a second detection point is determined in the detection image based on the image elements, and the second detection point is a target point for position deviation judgment; whether the electrical pin has position offset is determined by determining whether the distance between the first detection point and the second detection point is beyond a distance threshold.

The invention provides an optical genetic calibration method and system based on special space research, and the method comprises the steps: determining a target and a performance index of system design, selecting a proper optical element according to the performance index, and carrying out the layout design and parameter calculation; performing initial calibration, determining a position reference point of each optical element, adjusting an optical path, and recording initial values of parameters; real-time calibration is carried out, and system parameters are adjusted according to environment changes; detecting the characteristics of the output light in real time, and calculating the deviation between an actual value and an expected value; adjusting the position or angle of the optical element through a control circuit according to the deviation size and direction; and carrying out system data feedback and optimization, collecting and analyzing data in a real-time calibration process, and adjusting system parameters according to a data analysis result. According to the invention, the spatial resolution and accuracy of optogenetic regulation are improved.

The invention provides a contour extraction and generation method, system and device and electronic equipment, and relates to the field of visual positioning. The contour extraction and generation method comprises the following steps: acquiring a plurality of contour images on a to-be-processed area, a standard contour line of the to-be-processed area and a reference point on the standard contour line; capturing a plurality of contour reference points on the actual contour line of the to-be-processed area, fitting the plurality of contour reference points to generate a contour reference point drawing file, placing the standard contour line in the contour reference point drawing file, adjusting the standard contour line, and updating the plurality of reference points to obtain a plurality of actual reference points; and determining matched reference points corresponding to the contour reference points, and generating an actual machining contour line of the to-be-machined area by utilizing a connecting line trend of a plurality of actual reference points between two adjacent matched reference points. According to the method, the corresponding to-be-laser target positions on the to-be-processed products can be grabbed, and the adaptive laser drawing file is actively generated for each product, so that the process requirements of customers can be met.

The invention discloses a split type long-focus visible light assembly fog-penetrating compensation method, system and device, and relates to the monitoring technology, and the method comprises the steps: recording clear points of different focusing values according to the focusing feedback value range of a long-focus lens at a specified environment temperature, switching fog-penetrating mode virtual focus, and carrying out the manual focusing on the condition that an image is clear again, recording the offset P1 of the focusing value to obtain a first relation curve of the fog penetration shift of the focusing value; acquiring a change value of an inner focus offset P1 in a target temperature range and a corresponding value of the temperature by taking the specified environment temperature as a reference point to form a second relation curve; and searching based on the first relation curve and the second relation curve to obtain the offset P for compensating the movement of the focusing motor. The method is used for solving the problem of image virtual focus after the split type long-focus visible light assembly switches fog penetration.

The embodiment of the invention provides a ceramic diaphragm automatic positioning system based on high-precision visual feedback and closed-loop control, and the system comprises a parameter reference setting module which is used for setting a theoretical reference point and a visual detection parameter; the real-time visual detection module is used for collecting an image of the to-be-stacked film and outputting an image coordinate of the mark point; the core operation module is used for converting the image coordinates of the mark points into actual coordinates based on the visual detection parameters, reading a theoretical reference point of the current to-be-stacked diaphragm and calculating a position error vector between the actual coordinates and the theoretical reference point, and the position error vector comprises a translation compensation amount and a rotation compensation amount; and the motion control and closed loop feedback module is used for receiving the position error vector and generating a control instruction to drive the workbench to move. According to the system, through parameterized reference setting, real-time visual detection, intelligent error calculation and real-time motion compensation, the technical limitation is effectively overcome, and the lamination alignment precision and efficiency are remarkably improved.

The invention relates to a three-dimensional grid model processing method, computer equipment, a readable storage medium and a program product. The method comprises the steps of performing voxelization on a three-dimensional grid model of a target object to obtain a plurality of voxels corresponding to the target object in a preset reference space; determining the visibility value of the voxel according to the projection information of the voxel under the preset camera visual angle; determining a position relation label of the voxel relative to a reference point according to a communication relation between the voxel and the reference point in a preset reference space; screening out a target voxel from the voxels according to the visibility values and the position relation labels of the voxels; and determining model characterization parameters of the three-dimensional grid model according to the spatial information of the target voxel in the three-dimensional grid model. By adopting the method, the generation precision of the three-dimensional model can be improved.

The invention belongs to the technical field of airport clearance safety, and discloses an airport clearance ultrahigh ground feature extraction method fusing LiDAR point cloud and a panoramic segmentation model, and the method comprises the steps: collecting point cloud data in an airport clearance protection region through employing an unmanned plane airborne LiDAR, and carrying out the noise filtering, outlier elimination and datum point-based elevation standardization; constructing a data set with semantic tags and instance numbers, inputting the data set into a SuperCluster panoramic segmentation model, sequentially executing feature extraction, adjacency relation construction, edge weight distribution, local supervision and super-point aggregation, and outputting a segmentation result with semantics and instances; extracting a highest point in each instance point set, and performing spatial comparison with an inner horizontal plane, an approach plane and a transition plane limiting plane established according to an ICAO standard to obtain an instance category, a highest point coordinate, an intrusion depth and a spatial relationship; and performing three-dimensional visual display on the judgment result through the clearance supervision platform.

The invention discloses a 3D visual guidance steel box girder pushing and position adjusting method based on Beidou positioning. The method comprises the steps that a Beidou positioning device and an inclinometer are installed at a positioning datum point and a horizontal datum point of a steel box girder respectively; feature identifiers are installed on the box girder segments, and visual devices are correspondingly installed on the outer sides of the box girder segments and are used for monitoring three-dimensional displacement of the feature identifiers in the pushing process in real time; monitoring data of the Beidou positioning device, the inclinometer and the visual device are collected in real time, a dynamic three-dimensional model of the steel box girder is established, and the pushing posture and the pushing stroke of the steel box girder are adjusted on the basis of the dynamic three-dimensional model till the current box girder section reaches the designed mileage. According to the method, the dynamic characteristics of the steel box girder are perfected by taking the Beidou positioning data as the reference and utilizing the visual monitoring data and the inclination angle monitoring data, and the steel box girder pushing dynamic three-dimensional model is established, so that the pushing posture and the pushing stroke of the steel box girder can be automatically and accurately adjusted in the pushing process, and the efficiency and the safety of pushing construction are ensured.

The invention discloses a vibration monitoring and displacement identification method for a towering steel structure based on machine vision, and relates to the technical field of towering steel structures. Comprising the following steps: S1, visual acquisition and reference calibration: arranging visual acquisition equipment in the height direction and the circumferential direction of the towering steel structure according to mechanical characteristics of a vertical stiffness mutation region and a dynamic response sensitive part of a geometric asymmetric distribution characteristic of the structure; a three-dimensional coordinate system is established based on a structure installation reference surface, fixed reference monitoring points are arranged in a tower foot symmetric area and a mast antenna root, three-dimensional coordinate data of the reference points are synchronously collected, the collection range completely covers a node concentration area and a key stress part of a structure transparent area, and a continuous image sequence of the structure surface is captured in real time; the resolution and the sampling frequency of the visual acquisition equipment are determined according to the inherent frequency of the structure and the vibration response characteristics, and calibration is completed through reference point coordinates after the equipment is installed; s2, carrying out image preprocessing and feature enhancement; S3, carrying out feature point extraction and trajectory tracking; S4, carrying out vibration displacement calculation and twin fusion; and S5, carrying out multi-source verification and structural state linkage treatment.

A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.

The invention discloses a magnetic flux detection method and device. The method comprises the following steps: determining a first position of a target magnet in a to-be-detected product relative to a reference point, a second position of a horizontal axis and a longitudinal axis during measurement of a visual system, and a third position of a magnet center of the target magnet in the visual system relative to the reference point; based on the first position, the second position and the third position, determining a fourth position of the horizontal axis and the longitudinal axis during measurement of the laser displacement sensor; the laser displacement sensor is controlled to move to a fourth position, and a fifth position where the vertical shaft is located and a target reading value of the laser displacement sensor are obtained; based on the fifth position, the target reading value and the target measurement gap, determining a vertical axis position during measurement of the three-dimensional magnetic field camera; based on the first position, the second position and the third position, horizontal axis and longitudinal axis positions during measurement of the three-dimensional magnetic field camera are determined; and acquiring target magnetic flux data at the horizontal axis position, the longitudinal axis position and the vertical axis position. According to the invention, the detection efficiency and detection precision of the magnetic flux can be improved.

The invention relates to the technical field of surface mounting, and discloses an SMT (Surface Mount Technology)-based patch vision correction method, which comprises the following steps: S1, a calibration stage: constructing a double-coordinate system mapping model based on a PCB (Printed Circuit Board) plane, and establishing a nonlinear distortion compensation matrix according to the patch thickness; s2, a pickup stage: a CCD shooting camera is arranged at the top of the suction nozzle, a top CCD is triggered to shoot when the suction nozzle picks up an element, and pin coplanarity data is extracted; s3, a positioning stage: setting a reference point at the top of the PCB, scanning the PCB reference point through a CCD, and calculating a deviation between an actual position and a theoretical coordinate by using an algorithm processor; and S4, compensation execution: the motion shaft system dynamically adjusts the mounting path according to the deviation vector. The visual correction method based on SMT pasting has the advantages of accurate pasting and the like, and solves the problems of pasting position offset, low efficiency and unstable precision caused by factors such as vibration of an element feeder, mechanical transmission errors and thermal deformation of a PCB (Printed Circuit Board) due to dependence on manual calibration in the existing SMT pasting process.

The invention discloses an industrial robot grabbing and positioning system based on computer vision, and relates to the technical field of grabbing and positioning, and the system comprises a projection calculation module which is used for determining a roller direction unit vector of a roller based on a calibration plate image, and constructing a projection data pair based on the calibration plate image and the roller direction unit vector; the data acquisition module is used for generating a one-dimensional cosine curve based on the projection data pair and the candidate angular frequency set of the protection window; the image correction module is used for performing coordinate correction on the pixel coordinates of the calibration plate image based on the one-dimensional cosine curve to obtain a corrected image; the key point extraction module is used for carrying out geometric feature extraction on the correction image to obtain a key point set; and the pose optimization module is used for determining the optimal pose of the calibration plate relative to the camera based on the internal reference matrix of the camera and the three-dimensional reference point set and the key point set of the calibration plate. The grabbing stability and reliability of the robot are improved.