Machine vision-based position and orientation detection system and detection method of planar four-bar linkage mechanism

Abstract

The invention relates to a machine vision-based detection system and detection method for the position and posture of a plane four-bar linkage mechanism. Its technical scheme is: make five marking points and two marking lines on the surface of the rocker (2) and connecting rod (3) of the plane four-bar linkage mechanism; utilize the CMOS industrial digital camera (9) to continuously collect the plane four The end face image of the linkage mechanism contains the marked point and the marked line; and then image processing is performed on the end face image to obtain the coordinates of the center of the five marked point areas in the end face image and the position equations of the two marked lines in the end face image; The included angle between the connecting rod (3) and the rocker (2) of the end face image, and the marked point at the hinge point of the rocker (2) is obtained to one marking line and the other marking line on the connecting rod (3) the distance. The remaining end-face images are processed frame by frame accordingly. The invention is simple in structure and easy to use, can avoid the damage of the measured object, and lays a foundation for improving the motion precision of the real mechanism by reasonably matching the motion pair clearance.

Description

technical field [0001] The invention belongs to the technical field of position and posture detection of planar linkage mechanisms. In particular, it relates to a machine vision-based plane four-bar linkage pose detection system and detection method. Background technique [0002] Planar linkage mechanism is a common transmission mechanism, which has a wide range of applications in precision machinery ranging from traditional machinery manufacturing to aerospace technology, robot manufacturing, and instrumentation. [0003] With the development of modern high technology, the requirements of modern high-precision mechanism for position accuracy are constantly increasing and the operating environment of the mechanism is becoming more and more complex. The problem of high reliability and long life of the mechanism has become the focus of people's attention; Finally, the system dynamics characteristics, motion accuracy, stability and other issues caused by the wear gap of the ki...

AI Technical Summary

Problems solved by technology

[0005] Many scholars are using the planar four-bar linkage mechanism to study the dynamic characteristics, motion accuracy and stability of the system caused by the clearance of the rotating pair. Parameter measurement, but the installation and use of sensors will introduce additional structures that will cause changes in the pose of the measured object

[0006] As a non-contact measurement method, visual inspection technology has the characteristics of good real-time performance, high degree of automation of data acquisition and processing, and has been widely used in industry, military, medical and other fields, and has received great attention. Link Mechanism Pose Detection Research Field Has Not Been Cited

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