Shaft hole part positioning method based on cross laser device and machine vision

Abstract

The invention discloses a shaft hole part positioning method based on a cross laser device and machine vision in the automatic field. The method comprises steps that a), contour characteristic point detection, cross structured light is employed, and four points of a space circle are acquired for one time; b), detection on a part end surface normal vector, the normal vector of the space circle is calculated according to the four points; c), detection on a circle center and a radius of the space circle, a partial coordinate system of the space circle is established according to the normal vector, dimension reduction processing on the profile of the space circle is carried out in the partial coordinate system, a non-linear recursion algorithm is further employed, and the circle center and the radius of the space circle in the partial coordinate system are acquired; and d), detection on position and attitude under a robot coordinate system, the normal vector and the position of the circle center of the space circle are transferred to the robot coordinate system, and the position, the attitude and the radius of the space circle under the robot coordinate system are acquired. The method is advantaged in that real-time clamp adjustment and path planning are convenient for a robot, and quick and accurate moving and mounting can be realized.

Description

technical field [0001] The invention relates to the field of automation, in particular to a method for determining the attitude and positioning of shaft and hole parts based on cross laser and machine vision. Background technique [0002] In recent years, with the development of modern industry, people aim to improve production efficiency, stabilize and improve product quality, improve workers' working conditions, and accelerate the realization of industrial production mechanization and automation; however, in the prior art, robots are used in handling and installation projects , often because the position and attitude of shaft-hole parts cannot be quickly located, so the position and attitude of the grasped part and the position and attitude of the installed part cannot be determined, which makes the robot unable to adjust the fixture and plan the path in real time, resulting in the robot being unable to accurately carry And installation, work efficiency is low. Contents ...

AI Technical Summary

Problems solved by technology

[0002] In recent years, with the development of modern industry, people aim to improve production efficiency, stabilize and improve product quality, improve workers' working conditions, and accelerate the realization of industrial production mechanization and automation; however, in the prior art, robots are used in handling and installation projects , often because the position and attitude of shaft-hole parts cannot be quickly located, so the position and attitude of the grasped part and the position and attitude of the installed part cannot be determined, which makes the robot unable to adjust the fixture and plan the path in real time, resulting in the robot being unable to accurately carry and installation, work efficiency is low

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