Machine vision-based automatic navigation method for magnetic grinding of elbow

Abstract

The invention relates to a machine vision-based automatic navigation method for magnetic grinding of an elbow. The machine vision-based automatic navigation method includes that: calibrating parameters of a CCD camera to obtain a hand-eye relationship matrix of a robot; allowing the CCD camera to capture a three-dimensional image of a light bar at the outer surface of the elbow to obtain a data point set of a semi-circle of a light plane space of the camera; carrying out least square fitting with radius constraint on the data point set, calculating to obtain a circle center coordinate of a coordinate system of the light plane of the camera and converting into a circle center coordinate of a reference coordinate system; carrying out B-splint curve fitting on a series of circle center points to obtain an axle center orbit of the elbow; regulating the posture of a magnetic polishing device of the robot according to the axle center orbit to finish the magnetic polishing processing for the elbow. The machine vision-based automatic navigation method for the magnetic grinding of the elbow is good in realtime performance and high in precision, is capable of processing complex elbows, and enables the processing period to be greatly shortened and the efficiency and the processing precision to be improved.

Description

technical field [0001] The invention relates to technologies such as computer vision, image processing, B-spline curve fitting, robot control, etc., and specifically uses a computer vision method to automatically navigate the magnetic grinding of the inner wall of a free curved pipe. Background technique [0002] In recent years, the high-precision pipe fittings that have appeared in the fields of mechanical transportation, aerospace and other fields have high requirements for the roughness of the inner surface of the pipe fittings because they transport high-purity gases or liquids. The high smoothness of the inner wall of the tube, on the one hand, can ensure smooth transportation, avoid turbulent flow and make the fluid pressure in the tube uniform; on the other hand, it can avoid pollution and corrosion due to surface defects, and improve the service life. Due to the limitation of the use environment, many pipe fittings are slender elbows with complex shapes and variable...

AI Technical Summary

Problems solved by technology

Another situation is that the axis curve of the bent pipe cannot be determined at all, and the processing of the whole bent pipe can only be completed by relying entirely on automatic navigation.

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