A bolt positioning and posture detection method based on monocular and binocular vision cooperation

A bolt positioning and detection method technology, applied in the field of vision systems, can solve problems such as deformation and unreliable pose analysis, and achieve the effect of improving accuracy

Active Publication Date: 2018-12-18
BEIJING UNIV OF TECH
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Problems solved by technology

However, affected by the angle of the collected photos, the projection of the bolt hexagon will be deformed, which makes the pose analysis unreliable

Method used

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  • A bolt positioning and posture detection method based on monocular and binocular vision cooperation
  • A bolt positioning and posture detection method based on monocular and binocular vision cooperation
  • A bolt positioning and posture detection method based on monocular and binocular vision cooperation

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Embodiment Construction

[0033] The working process of the system will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] refer to figure 1 , the system workflow steps are as follows:

[0035] Step 1, calibrate the camera parameters of the binocular system on the HALCON platform, the steps are as follows:

[0036] Step 1.1, assume that the world coordinate system coincides with the camera coordinate system of the left camera.

[0037] Step 1.2, establish the relationship from world coordinate system to pixel coordinate transformation:

[0038]

[0039] Let the origin of the pixel coordinate system be the upper left vertex of the image, the horizontal axis (u-axis) and the vertical axis (v-axis) are parallel to the X-axis and Y-axis in the image coordinate system respectively, and have the same direction. Suppose the coordinates of the origin of the image coordinate system in the pixel coordinate system are (u 0 ,v 0 ); The coordinates ...

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Abstract

The invention discloses a bolt positioning and posture detection method based on monocular and binocular vision cooperation. Firstly, a bolt image collected and processed by a binocular vision systemunder a fixed position is used to obtain an edge contour of the bolt image, and the geometrical centroid is calculated to obtain the position coordinates of the feature points in the bolt image. Wheninstalling the two industrial cameras in the binocular system, the left camera is mounted on the left robot arm which can control the movement trajectory, and the right camera is mounted on the properheight of the fixed support of the inspection robot. The left and right camera optical axes are set to be parallel and perpendicular to the baseline, and the right camera interface is closed by the control system after work, and the end of the left manipulator is controlled to move above the acquired coordinate point, at this time, the monocular vision system is operated. The invention combines the function of positioning by using depth information of the binocular system and the flexible 3d posture matching function of the monocular system, and realizes the identification and posture detection of the bolt to be detected in the obstacle environment.

Description

technical field [0001] The invention relates to the fields of image processing and computer vision, relates to HALCON software, and specifically relates to a vision system combining single and binocular eyes, which is applied to obtain position and pose information of bolts. Background technique [0002] High-speed rail trains will inevitably produce severe vibrations during high-speed operation. In order to ensure the stability of high-speed train operation, it is necessary to regularly overhaul the connecting bolts of the train floor. However, when inspecting a large number of bolts online, it is difficult to guarantee the accuracy and quality of manual visual inspection and measurement. Binocular vision technology provides support for the automatic positioning of industrial robots. It uses a binocular camera model with common polarity constraints, based on the pinhole imaging principle and the mathematical theory of triangular ranging, and obtains the depth of field infor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/13G06T7/73G06T7/80
CPCG06T7/0004G06T7/13G06T7/73G06T7/80G06T2207/10004G06T2207/30164
Inventor 刘志峰檀芳王子涵
Owner BEIJING UNIV OF TECH
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