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Alternative TitleMachine vision-based automatic navigation method for magnetic grinding of elbow
赵吉宾; 杨林; 李家智; 付生鹏; 王国强; 乔红超
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a machine vision-based automatic navigation method for magnetic grinding of an elbow. The machine vision-based automatic navigation method includes that: calibrating parameters of a CCD camera to obtain a hand-eye relationship matrix of a robot; allowing the CCD camera to capture a three-dimensional image of a light bar at the outer surface of the elbow to obtain a data point set of a semi-circle of a light plane space of the camera; carrying out least square fitting with radius constraint on the data point set, calculating to obtain a circle center coordinate of a coordinate system of the light plane of the camera and converting into a circle center coordinate of a reference coordinate system; carrying out B-splint curve fitting on a series of circle center points to obtain an axle center orbit of the elbow; regulating the posture of a magnetic polishing device of the robot according to the axle center orbit to finish the magnetic polishing processing for the elbow. The machine vision-based automatic navigation method for the magnetic grinding of the elbow is good in realtime performance and high in precision, is capable of processing complex elbows, and enables the processing period to be greatly shortened and the efficiency and the processing precision to be improved.
PCT Attributes
Application Date2012-12-14
Date Available2016-03-23
Application NumberCN201210545165.8
Open (Notice) NumberCN103862330A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
赵吉宾,杨林,李家智,等. 基于机器视觉的弯管磁研磨自动导航方法[P]. 2014-06-18.
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File name: CN201210545165.8.pdf
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