The invention discloses a
visual identification method for a water pump
impeller ring. The method comprises the following steps: S1, collecting an original image of a water pump
impeller ring horizontal plane by using an industrial camera; S2, converting the collected original image into a
grayscale image; S3, performing binarization and
morphological processing on the
grayscale image to obtain avisual image; S4, performing
contour set retrieval on the visual image, and traversing all contours; S5, creating a
reference image with the same size as the original image and a gray value of 0, drawing a bounding circle of each contour in the step S4 on the
reference image, and drawing each contour to obtain accurate contour information; S6, calculating the angle relation of the circle center ofeach contour surrounding circle obtained by the
reference image based on the circle center of the contour surrounding circle obtained by the original image, and converting the pixel coordinates of the circle center into a
robot coordinate
system. By means of the method, the water pump
impeller ring can be accurately and rapidly recognized, human factors are avoided, efficiency is improved, and subsequent grabbing of a
robot is facilitated.