自动钻铆末端双目高精定位系统设计
Binocular High-Precision Positioning System at Automatic Drilling and Riveting Ends
王晓煜 1李垚 1宋雪萍1
作者信息
- 1. 大连交通大学 机械工程学院,辽宁大连 116028
- 折叠
摘要
设计了基于自动钻铆末端的双目高精定位系统.首先对视觉定位需求进行分析,设计双目视觉系统结构参数,基于视觉光源去除复合材料背景纹理;其次对轮廓进行提取拟合,预处理标定后结合ESPCN和Canny算子进行亚像素边缘提取,利用改进最小二乘法拟合计算圆心坐标;最后对视觉定位系统进行精度验证.结果表明:平面定位误差小于0.02 mm,深度定位误差小于0.04 mm,满足钻铆机器人的视觉测量要求.
Abstract
A binocular high-precision positioning system based on automatic drilling and riveting ends is designed.Firstly,the visual positioning requirements are analyzed,the structural parameters of the binocular vision system are designed,and the background texture of the composite material is removed based on the visual light source.Then the contour is extracted and fitted after preprocessing and calibration,the sub-pixel edge is extracted by com-bining ESPCN and Canny operator,and the coordinates of the center of the circle are calculated by using the im-proved least square method.Finally,the accuracy verification of the visual positioning system was carried out,and the results show that the plane positioning error is less than 0.02 mm,and the depth positioning error is less than 0.04 mm,which meets the visual measurement requirements of the drilling and riveting robot.
关键词
图像处理/复合材料/工业机器人/边缘检测/双目高精定位Key words
image processing/composite materials/industrial robots/edge detection/binocular high-precision positioning引用本文复制引用
基金项目
国家自然科学基金项目(51005029)
国家重点研发计划项目(2019YFE0120700)
出版年
2024
NETL
NSTL
万方数据