Research On Recognition And Location Method Based On Missing Point Cloud Of Disk Element

In recent years,with the continuous innovation of image acquisition equipment technology,image processing technology based on three-dimensional point cloud image has been widely applied.However,due to the working environment and the camera's own attributes,the point cloud image may have the problem of missing point cloud,which seriously restricts the development of 3D technology.Exploring an effective and fast identification and positioning method which has great application value for expanding the applicable field of 3D camera,promoting the research and development of domestic machine vision identification and positioning products,and improving the intelligence level of robots in China.The three-dimensional point cloud image with point cloud missing is taken as the research object,and the applied object is the circular workpiece to analyze the feature of the element.On the basis of the existing research,to study the recognition and positioning method of the disc-shaped element with point cloud missing.Its main research contents include:Firstly,according to the research requirements,designing a recognition and positioning system to provide an operating environment for the overall research and test.Secondly,obtaining the conversion relationship between the 3D camera coordinate system and the world coordinate system of robot.The accuracy of hand-eye calibration results is verified through experiments.Then,combined with image morphology processing method and the traditional watershed segmentation algorithm,proposed a disc component identification and position method which is based on point cloud loss,completing the work of the positioning of the components.To complete with the traditional template matching method based on surface features,the advanced nature of the method is validated.Finally,through a large number of field tests.Through the analysis of the cases that were not successfully identified in the experiment process,the reasons for the recognition failure were summarized,and the focus of the next research work was determined.