The invention provides a radiation library cover plate falling error automatic correction method based on machine vision, wherein the method mainly comprises the steps: carrying out the detection and positioning of two corner sides above a rectangular cover plate of a radiation source library and identification circles in front of a crane gripper, and collecting image information through a camera; obtaining a circle center coordinate position in the pixel plane by using a circle detection algorithm; when a crane grabs the cover plate and the cover plate inclines due to unbalanced load, calculating the deviation angle according to the circle center coordinates of the identification circles on the two sides of the cover plate and an arc tangent formula, serving the deviation angle as a correction parameter, and feeding back to a control system for angle correction; and in the process of dropping the cover plate by the crane, judging the condition of dropping the clamped edge of the cover plate according to the change rate of the observation distance from the circle centers of the identification circles on the two sides of the cover plate to the circle center of the gripper identification circle, and making a corresponding adjustment strategy. The method realizes automatic adjustment of the inclination angle and position of the cover plate during loading, ensures smooth closing of the cover plate during falling, is high in adjustment precision and low in cost, and has the advantages of safety, reliability, high efficiency and the like.
本发明提出一种基于机器视觉的放射库盖板落放误差自动纠正方法,所述方法主要通过对放射源库矩形盖板上方两角侧和起重机抓具正前方的标识圆进行检测定位,利用相机采集图像信息,利用圆检测算法获取像素平面中的圆心坐标位置;在起重机抓取盖板由于负载不均衡导致盖板歪斜时,根据盖板两侧的标识圆圆心坐标和反正切公式测算出偏移角度作为纠正参数反馈至控制系统给予角度纠正;在起重机落放盖板的过程中,根据盖板两侧的标识圆圆心至抓具标识圆圆心的观察距离变化率判断盖板落放卡边的情况,并作出相应的调整策略。本方法实现负载时盖板歪斜角度及位置自动调整,确保盖板落放顺利合盖,调整精度高,成本低,同时具有安全、可靠、高效等优点。
Radiation library cover plate falling error automatic correction method based on machine vision
一种基于机器视觉的放射库盖板落放误差自动纠正方法
2021-04-09
Patent
Electronic Resource
Chinese
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B66C Krane , CRANES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
Error propagation in machine vision
British Library Online Contents | 1994
|Full-automatic flexible plate single-piece transfer device and method based on machine vision
European Patent Office | 2022
|Escalator rider falling recognition system based on computer vision
European Patent Office | 2020
|