Tank cover visual detection and positioning method, system and device, and medium

Abstract

The invention provides a tank cover visual detection and positioning method which comprises the following steps: a target identification step: carrying out template matching on a tank cover image to obtain a region of interest; a preliminary positioning step: carrying out contour matching on the obtained region of interest to obtain a regular hexagonal template, and reducing a detection region; an accurate positioning step: performing threshold segmentation according to gray characteristics of the center of the tank cover, and extracting a central hole as the center of the tank cover; and a pose resolving step: resolving a two-dimensional coordinate of the center of the tank cover under a world coordinate system according to the calibrated pose relationship, and fusing the two-dimensional coordinate with data obtained by the height sensor to obtain a three-dimensional coordinate of the center of the tank cover under the world coordinate system. According to the method, system and device, the templates under different illuminance are stored in advance, so that a complex algorithm is avoided, the detection requirements under different environments can be met, the influence of illumination conditions on detection is solved, the detection range is reduced twice through two different methods of template matching and contour matching, and the center of the tank cover can be detected more accurately.

Description

technical field [0001] The invention relates to the technical field of tank car detection and positioning, in particular to a tank cover visual detection and positioning method, system, medium and device. Background technique [0002] During the transportation and pretreatment of molten iron, steelmaking, refining and continuous casting processes and operations, the capping operation of torpedo tank cars is a crucial link in the treatment of molten iron. In the traditional process, this operation is mostly carried out by the manual operation of the robotic arm to grab the can lid and place it on the tank mouth of the tanker, which is extremely difficult and poses certain dangers to the operator. Therefore, there are many problems in the torpedo tank car adding operation process under extremely severe environment (high temperature, dust and splash etc.). [0003] After searching, the patent document CN101003280A discloses a torpedo tank car positioning and car number detecti...

AI Technical Summary

Problems solved by technology

This method needs to install two non-contact hot metal detectors on the tank mouth of the torpedo tanker, which has high requirements for the installation accuracy and the performance of the equipment; at the same time, this method is based on the principle of temperature difference detection. Not too far away, it will have a certain impact on the homework

[0004] patent document CN110378957A discloses a metallurgical operation-oriented torpedo tank car visual recognition and positioning method and its system, the system uses a sliding window matching method, and does not further Narrowing the detection area is susceptible to environmental interference; on the other hand, to identify ellipse features for the positioning of can lids and can mouths, it is necessary to set adaptive parameters to meet the needs of different lighting conditions. In the process of ellipse feature extraction, feature extraction is required Accurate, the robustness is not high in complex environments, and it is easy to produce relatively large errors

In order to extract features accurately, many requirements are placed on the installation method, and the adaptability to different environments is insufficient.

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