Identification and location technology of scattered rivets based on monocular vision
To solve the problem of difficult identification and location of scattered rivets in the process of automatic nail feeding,a method of identifying and locating scattered rivets based on monocular vision was proposed.By stud-ying the reflected light intensity of rivets,the gray-value distribution law of rivet rod was obtained,the rivet tem-plates were constructed in a parametric way,and a rivet identification algorithm based on gray-value matching was proposed.The rivet's position was obtained by the combination of monocular vision and a laser displacement sensor.At the same time,to solve the problem of principle error in measuring rivet position under different depths by mo-nocular vision,a measurement method of repeated positioning and photographing was studied.The maximum posi-tion deviation between the vacuum nozzle and the center of rivet rod was reduced from 7.86 mm to 0.87 mm.The experimental results showed that the rivet identification accuracy of gray-value matching algorithm was above 85％and it could adapt to changes in illumination from 30％to 70％.The longest nail grasping beat of the robot using the proposed method was 3.32 s,which could leave enough time to transport the rivet to the automatic drilling and riveting equipment and meet the requirement of the automatic drilling and riveting equipment.
monocular visionrivet identificationtemplate matchingposition measurementautomatic nail feeding
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