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基于机器视觉的弯管磁研磨自动导航方法
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
Department装备制造技术研究室
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
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种基于机器视觉的弯管磁研磨自动导航方法。其方法包括:标定CCD相机参数得到机器人手眼关系矩阵;CCD相机对弯管外表面的光条进行三维图像采集,得到相机光平面空间半圆形的数据点集;对数据点集进行带半径约束的最小二乘法拟合,求得相机光平面坐标系下的圆心坐标并转换为基坐标系下的圆心坐标;对一系列圆心点进行B样条曲线拟合,得到弯管轴心轨迹;控制机器人的磁研抛装置根据轴心轨迹进行姿态调整,完成弯管的磁研抛加工。本发明实时性好、精确度高,可完成复杂弯管的加工,大幅缩短加工周期,提高效率和加工精度。
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
2014-06-18
Date Available2016-03-23
Application NumberCN201210545165.8
Open (Notice) NumberCN103862330A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/14897
Collection智能产线与系统研究室
Affiliation中国科学院沈阳自动化研究所
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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