Research on Multi Axis Positioning Method of Special Shaped Cylinder Through Cavity
The multi-axis positioning of the special-shaped cylindrical penetrating cavity bearing parts is the prerequisite for its automatic defect detection.It proposes a multi-axis positioning method based on machine vision for a special-shaped cylindrical penetrating cavity bearing parts,which solves the problems of slow manual positioning and measurement,low accuracy,and in-ability to batch process multiple features in automated positioning.Firstly,calibrate the camera internal parameters and the hand-eye relationship of the manipulator,then collect the image of the special-shaped carrier and detect the end ellipse,then identify the ArUco target and estimate the camera pose.Finally,the center coordinates and normal vectors of the end face of the carrier are converted to the robot base coordinate system,and the mathematical representation of the axis is solved.The experimen-tal results show that this method can quickly locate the axis characteristics of the bearing part.The positioning accuracy of the end face center of the special-shaped bearing part can reach up to 1.63mm,and the end face ArUco target attitude estimation accura-cy can reach up to 0.35°,the efficiency is much higher than manual measurement,the method can handle special-shaped work-pieces with multiple cylindrical end faces,which has a certain industrial application value.
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维普
