Bending angle detection method and system for tube bending and electronic device

An online bending angle detection system for tube bending, comprising:

• an online control module configured to perform steps of:
• obtaining control signals of tube bending from a control end of tube bending equipment;
• determining whether an image acquisition condition is met according to the control signals, wherein the image acquisition condition is that two adjacent control signals are bending and translation respectively, and translation movement is ended;
• and
• returning to the step of “obtaining control signals of tube bending from a control end of tube bending equipment” in response to that the image acquisition condition is not met;
• an image acquisition module configured to acquire an image of a bent tube as a to-be-recognized image in response to that the image acquisition condition is met;
• an image processing module configured to binarize the to-be-recognized image and extract an ROI to obtain binary images of two linear segment regions, wherein the to-be-recognized image is an image of a bent tube;
• and
• a bending angle analysis module configured to calculate a bending angle according to the binary images of the two linear segment regions;
• wherein the image processing module comprises:
• a registration unit configured to register the to-be-recognized image with a sample image in a tube bending image database to obtain a registration transformation matrix, wherein the to-be-recognized image is an image of a bent tube, the tube bending image database comprises a sample image obtained after each bending and translation in a tube bending process, and the sample image comprises:
• a reference image, a labeled bent ROI, and two linear segment regions adjacent to current bending;
• a coordinate transformation unit configured to transform coordinates of the bent ROI and the two linear segment regions adjacent to the current bending in the sample image using the transformation matrix to obtain a bent ROI and two linear segment regions adjacent to current bending in the to-be-recognized image;
• a bent ROI image extraction unit configured to intercept the bent ROI in the to-be-recognized image from the to-be-recognized image to obtain an image of the bent ROI;
• a binarization unit configured to binarize the image of the bent ROI to obtain a binary image of the bent ROI;
• and
• a two linear segment region binary image extraction unit configured to intercept the two linear segment regions adjacent to the current bending in the to-be-recognized image from the binary image of the bent ROI to obtain binary images of the two linear segment regions.