Workpiece detection method and device

Abstract

The invention discloses a workpiece detection method and device. The method comprises that first detection images of a workpiece are sampled to obtain a second detection image, and first reference diagrams corresponding to the workpiece are sampled to obtain a second reference diagram; the second detection image is rotated for a first angle for multiple times, after each rotation, the present rotated second detection image is subtracted from the second reference drawing to obtain a difference value, and when the obtained difference value equals a first minimal difference value, the total angle rotated relative to the second detection image is determined to be a first angle deviation value; a rotation angle range is obtained on the basis of the first angle deviation value and a predetermined angle error; and within the range, the first detection image is rotated for a second angle for multiple times, after each rotation, the present rotated first detection image is subtracted from the first reference drawing to obtain a difference value, and when the difference value equals a second minimal difference value, the total angle rotated relative to the first detection image is determined to be a second angle deviation value.

Description

technical field [0001] The present invention relates to the field of image processing, and in particular, to a workpiece detection method and device. Background technique [0002] The workpiece positioning algorithm is a commonly used algorithm. The purpose of this algorithm is to determine the position offset, angle offset and other information of the workpiece, so as to carry out subsequent processing on the workpiece based on these information. At present, the workpiece positioning algorithm has been widely used in many fields such as robot grabbing objects and machine vision, and has become one of the main means of detecting and measuring workpieces. [0003] In some detection and measurement scenarios that require high precision, higher requirements are also placed on the positioning of workpieces. In order to improve the detection accuracy, a variety of detection methods have been proposed. For example, in the patent application No. 201310509532.3, titled "A CCD-Bas...

AI Technical Summary

Problems solved by technology

This scheme of using functions to calculate to complete the matching still has a large amount of calculation, low processing efficiency, and the calculation process is relatively complicated, which is not easy to implement

In addition, for workpieces with unclear boundaries, the detection accuracy of this patent will be significantly reduced

[0006] Aiming at the problems of large amount of calculation, complex process, difficult implementation and inapplicability to all workpieces in related technologies, no effective solution has been proposed so far.

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