Rotary workpiece docking method and device based on multi-view vision and pose optimization

CN121132657BActive Publication Date: 2026-07-21BEIJING INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING INST OF TECH
Filing Date
2025-09-29
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Traditional vision-guided methods, especially under large positional deviations, suffer from insufficient axis alignment accuracy in the automated assembly of rotating workpieces, making it difficult to accurately calculate the six-degree-of-freedom positional parameters.

Method used

A method based on multi-view vision and pose optimization is adopted. Workpiece information is acquired through a binocular stereo camera array, multi-source data fusion is performed, the cylindrical surface and end face features of pins and pin holes are extracted, the axis parameter equation is established, and the initial pose is iteratively calculated by combining a six-degree-of-freedom pose optimization model and a kinematic model. Closed-loop correction is performed through visual and encoder feedback information, and finally a force control sensor is introduced for compliant control.

Benefits of technology

It achieves high-precision docking of workpieces under large positional deviations, improves axis alignment accuracy, solves the robustness and accuracy problems of traditional methods under large deviation scenarios, and ensures stable docking of the robot arm.

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Abstract

Embodiments of the present application provide a rotary workpiece docking method and device based on multi-view vision and pose optimization, the method comprising: determining fused multi-source information; based on a preset random sampling iterative algorithm, extracting the cylindrical surface and end surface plane features of the pin and the pin hole in the multi-source information, and establishing an axis parameter equation of the complete features according to the plane features; using the constructed six-degree-of-freedom pose optimization model and the axis parameter equation, iteratively calculating the initial pose of the axis alignment of the pin and the pin hole; according to the initial pose, converting the initial pose into the joint space trajectory of the manipulator through the kinematics model; obtaining the feedback information of the vision and the encoder, correcting the joint space trajectory using the feedback information, obtaining the corrected target pose, and driving the manipulator to move the workpiece to the target pose. The scheme of the present application solves the problem of insufficient axis alignment accuracy of the traditional visual guidance method under large pose deviation.
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Citation Information

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