CN102128589A - Method for correcting azimuth errors of inner bore of part in process of assembling axle hole - Google Patents
Method for correcting azimuth errors of inner bore of part in process of assembling axle hole Download PDFInfo
- Publication number
- CN102128589A CN102128589A CN2010100343573A CN201010034357A CN102128589A CN 102128589 A CN102128589 A CN 102128589A CN 2010100343573 A CN2010100343573 A CN 2010100343573A CN 201010034357 A CN201010034357 A CN 201010034357A CN 102128589 A CN102128589 A CN 102128589A
- Authority
- CN
- China
- Prior art keywords
- part endoporus
- image
- camera
- annular region
- outward flange
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 29
- 230000002093 peripheral effect Effects 0.000 claims description 19
- 239000000284 extract Substances 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000005260 corrosion Methods 0.000 claims description 2
- 230000007797 corrosion Effects 0.000 claims description 2
- 230000001419 dependent effect Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 238000009499 grossing Methods 0.000 claims description 2
- 230000001131 transforming effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 17
- 238000012937 correction Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 101100117236 Drosophila melanogaster speck gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 238000012567 pattern recognition method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention a method for correcting azimuth errors of an inner bore of a part in the process of assembling an axle hole. The method comprises the following steps of: moving a camera on the tail end of a sixth axle of a six-axle mechanical arm to a position above the inner bore of the part, extracting the outer edge and the inner edge of an annular region formed in an image of the inner bore of the part of the camera, changing the outer edge and the inner edge of the annular region into two two-dimensional curves through a space transforming algorithm, calculating the position relation between the outer edge and the inner edge of the annular region according to the two two-dimensional curves to further determine the offset error of the inner bore of the part, and then repeatedly adjusting a robot towards the direction of reducing errors till the calculated angle errors are limited within an allowed range. With the method for rapidly correcting assembling errors, which is designed by the invention, requirements of the fixture on clamping the part in the process of assembling part axles and the inner bore of the part can be greatly lowered, and the success rate of assembling the part axles and the inner bore of the part can be increased.
Description
Technical field
The present invention relates to the part localization method before a kind of assembling, particularly relate to a kind of azimuthal error bearing calibration of the part endoporus based on dynamic vision.
Background technology
In the industrial automation process, assembling is the indispensable link of production, and shaft parts and part endoporus are assemblied in existence in a large number in the actual production.In high-precision part axle and the assembling of part endoporus, the importance of accurate in locating part is particularly outstanding.And in the process of actual production, because the randomness that wearing and tearing that mechanical clips produces in long-term use and robot are placed part, the bearing accuracy that makes mechanical clips treat Assembly part is difficult to satisfy the requirement of assembly precision, therefore, press down in the process, possible 1 because there are deviation in the axle and the angle in hole in assembling) cause press-fiting and join failure, reduce assembly yield, perhaps 2) cause part deformation to influence the serviceable life of assembly too greatly because of the internal force between the axle of hole.
Assembly problem for vision guide, the seat civilization, employings such as Zheng Yanxing two angled cameras above Assembly part extract the mode that part feature positions, designed and Implemented the method (vision correction of error in the robot fittage that coarse positioning and error to the Assembly part endoporus reduce, " robot ", 2001,23 (5); The passive assembling research of shaft parts under the visual guidance and part endoporus, " Southeast China University's journal ", 2001,31 (2); Based on the shaft parts of framing and the error analysis in the assembling of part endoporus, " robot ", 2000,22 (4)).People such as S.Okumura are at Error prevention in robotic assembly tasks by amachine vision and statistical pattern recognition method (International Journal of Production Research, 2005,43 (7): 1397-1410) in the literary composition, proposed estimation of error and error calibration method based on Robot Binocular Vision at the robot fittage.In the method, the CCD camera of two high speeds is fixed on the robot arm, can collect the surface characteristics of Assembly part in real time, adopts the mode of stereoscopic vision coupling that part is followed the tracks of, can determine the orientation of Assembly part, thereby instruct the SCARA robot to assemble.Yet in the assembly method of existing vision guide, how all to have adopted the mode of binocular camera shooting head that part is positioned, its bearing accuracy relies on the precision that the binocular camera shooting head obtains image and image characteristics extraction to a great extent like this, the precision of algorithm for stereo matching, when camera is fixed in the robot, also to consider the bearing accuracy of robot etc.These method more complicated equipment performance is had relatively high expectations on (as the high-speed camera head), thereby price is higher, and in the assembly system of reality, the existence of part own can be utilized to carry out the feature of error judgment, can be in order to instruct the correction of rigging error.
Summary of the invention
(1) technical matters that will solve
In view of this, the object of the invention provide a kind of can be by being fixed on the camera collection part image of having demarcated of six shaft mechanical arms the 6th shaft end, image information according to part endoporus in the part image, calculate the offset sum of errors angular deflection error in part orientation, according to position and the angle that offset sum of errors angular deflection error is regulated six shaft mechanical arms the 6th shaft end camera, aim at fully with the axis of part endoporus up to the camera central shaft.Can determine that according to the orientation of camera six shaft mechanical arms carry out shaft parts pack into the orientation and the application of force direction of part endoporus, guarantee that the assembling of shaft parts and part endoporus reliably finishes.Shaft parts and the bearing calibration of part endoporus rigging error based on dynamic vision, solve existing shaft parts and part endoporus mounting technology in order to this, the problem of the assembling failure that causes owing to the positioning error of part endoporus improves the success ratio of shaft parts and part endoporus assembling.
(2) technical scheme
For reaching described purpose, the present invention proposes a kind of bearing calibration of part endoporus azimuthal error in the axis hole assembling, and this method is achieved through the following technical solutions:
Step S1: will be put on the anchor clamps with the part of endoporus and clamp, and make the upper edge of part endoporus exposed; The camera of having demarcated that is fixed on six shaft mechanical arms the 6th shaft end is moved to the top of part endoporus, its exposed plane parallel when the part endoporus as plane and precognition of described camera is accurately located; Adjust the height of camera above the part endoporus, make camera can obtain the image of part endoporus clearly, and guarantee that the part endoporus occupies big zone in image;
Step S2: obtain part endoporus image by camera, utilize image processing algorithm again, extract annular region that the part endoporus forms in camera image, extract the edge that part endoporus upper edge and lower edge form in camera image, described edge is the inward flange and the outward flange of annular region;
Step S3: the outer peripheral center of gravity of annular region that forms in camera image with the part endoporus is an initial point, set up polar coordinate system, utilize the spatial alternation algorithm of polar coordinate system to rectangular coordinate system, outward flange and inward flange by annular region make up outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ), these two curve horizontal ordinates are that initial point is the angle θ of the vector of starting point in the polar coordinate system, and ordinate is respectively the length that the length of described vector and annular region outward flange intersection point line segment and vector and annular region intersect line segment;
Step S4:, utilize the position deviation direction of trying to achieve the part endoporus based on the geometric transformation algorithm of projective theorem according to outward flange radius curve r (θ) and inward flange and these two curves of outward flange distance radius curve d (θ)
With
Departure Δ D on the direction and angular deviation direction
With
Departure α on the direction;
Step S5: if satisfy departure Δ D＜ε
1, α＜ε
2, end step; If do not satisfy departure Δ D＜ε
1, α＜ε
2, then adjust the opposite direction of camera along position deviation
The distance of mobile Δ D, adjust again camera along
Opposite spin α, forward step S2 then to; Wherein, ε
1, ε
2Be to require the error criterion formulated according to different assembly precisions.
(3) beneficial effect of the present invention
The present invention compares with the error calibration method in the existing assembling process, on the one hand, that adopts is one and is fixed on movably camera of six shaft mechanical arms the 6th shaft end, this realizes the certain cost of method saving of part location than the dynamic dual camera of existing employing, simultaneously obtain the mode that part image carries out Flame Image Process then based on a camera, saved the processing of in the dual camera two width of cloth images being mated, accelerate the speed of Flame Image Process on the one hand, also reduced the error that the images match process is introduced simultaneously; On the other hand, utilized in the assembling of shaft parts and part endoporus, have the feature that be imaged as annular region of certain altitude part endoporus in image, designed simple error calibration method, this passes through the mode that vision proofreaies and correct positioning error to the hi-Fix of Assembly part endoporus and compares with general, the feature that can be used for locating element of utilizing part self to have dexterously, be no longer dependent on complicated Processing Algorithm of the image effective coverage being carried out extracted with high accuracy, also utilized simultaneously camera to the catching and the extension ability of actual deviation fully, extracted at identical image and improved the precision that part positioning error is estimated under the accuracy situation.Moreover, the new parameter from image space extraction key has been proposed, be mapped to another simple and easy space analysis by certain mapping mode, the physical quantity that in the image space judgement of Assembly part site error and angular error is played a crucial role is put forward, and they are separated, be about to be subjected to part position sum of errors angular error to analyze respectively, thereby the simultaneous error correction problem of multidimensional error has been changed into the correction problem of two one-dimensional errors, and this provides new solution thinking for the error correction problem in shaft parts and the assembling of part endoporus.
Description of drawings
Fig. 1 is the process flow diagram of the bearing calibration of part endoporus azimuthal error in the axis hole assembling;
Fig. 2 has the six shaft mechanical arm shaft parts of camera and the error correction platform synoptic diagram of part endoporus assembling;
Fig. 3 is that camera is positioned at part endoporus when top, the image-forming principle synoptic diagram of part endoporus in camera;
Fig. 4 is that camera is positioned at circular part endoporus top, and part is when existing different offsets and angle rotation error, the annular region synoptic diagram that the part endoporus forms in camera;
Fig. 5 is a part when having different deviation, and the different annular regions that the part endoporus forms on camera image are by the spatial alternation of polar coordinates to rectangular coordinate, the different two-dimensional curve figure of formation.
Embodiment
Be to describe specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments in detail below.But the present invention is not subjected to the restriction of embodiment described here, provides these examples just for more abundant and full disclosure invention, and scope of the present invention is informed those skilled in the art.
Fig. 1 is the process flow diagram of the bearing calibration of part endoporus azimuthal error in the axis hole assembling, and each step that it has provided inventive method marks with S1-S5 respectively, and has provided the front and back logical relation that each step is carried out.To the enforcement of each step be described in detail below.
Fig. 2 is the error correction platform synoptic diagram that has six shaft mechanical arm shaft parts of camera and the assembling of part endoporus, and the critical component of shaft parts and part endoporus rigging error dressing plate is explained as follows: six shaft mechanical arms 1 contain platform 4, the shaft parts 33 of part 3, part endoporus 31, part endoporus upper edge 311, part endoporus lower edge 312, the retaining element 3 of picture plane 22, the band endoporus of the 6th the 11, the 6th shaft end 111, the 6th axis 112, camera 2, camera axis 21, camera, the paw 5 of gripping shaft parts 33.Part endoporus 31 is circular hole, square hole or delthyrium; Camera is a monocular cam.
Fig. 3 is that camera 2 is when being positioned at part endoporus 31 tops, the image-forming principle synoptic diagram of part endoporus 31 in camera, wherein critical piece comprises: camera 2, the picture plane 22 of camera, part 3 with holes, part endoporus 31, part endoporus upper edge 311, part endoporus lower edge 312, the upper surface 32 of part 3, under the perfect condition, part 3 plane, 311 place, part endoporus upper edge 6 during by accurate clamping, camera focus 23, the annular region 221 that part endoporus 31 forms in as plane 22 at camera, camera is as the outward flange 222 of annular region in the plane 22, as the inward flange 223 of annular region in the plane.
(a) camera 2 is moved to directly over the part endoporus 31 among Fig. 3, and the picture plane 22 of camera is under perfect condition, and part 3 is error free fixedly the time, and plane, place 6, part endoporus 31 upper edge is parallel; And in fact since part 3 exist angle and offset error part endoporus 31 upper edges 311 place part upper surfaces 32 not with part 3 error free fixedly the time plane, place, part endoporus 31 upper edge 6 overlap with parallel.(b) is part endoporus 31 forms image in the picture plane 22 of camera principle among Fig. 3, what part endoporus 31 projected camera in the focus 33 by camera 2 as can be known is an annular region 221 as the image in the plane 22, wherein part endoporus upper edge 311 forms the outward flange 222 of annular region in camera image, and part endoporus lower edge 312 forms the outward flange 223 of annular region in camera image.
Below in conjunction with Fig. 3, camera 2 is moved to error free fixedly the time behind the parallel position, plane, 311 place, part endoporus upper edge 6 with part 3, part endoporus 311 forms the phenomenon of annular region and carries out analytical explanation in camera image.
Suppose that camera 2 stably is fixed on the six shaft mechanical arms 1, the repetitive positioning accuracy of six shaft mechanical arms 1 is 0.05mm, and the positioning error of camera 2 that is fixed on the 6th shaft end 111 of six shaft mechanical arms 1 is limited in the 0.2mm;
OXYZ is the world coordinate system of the part endoporus under the perfect condition, it is defined as follows: OXY is the error free plane, 311 place, part endoporus upper edge 6 fixedly time of part 3, camera 2 is moved to directly over the part endoporus 21, and parallel with OXY, OZ is the central shaft of the accurate back of part 3 clampings part endoporus 21 under the perfect condition;
O ' X ' Y ' Z ' is the world coordinates of the part endoporus of reality, and it is defined as: O ' is the geometric center of the upper edge 311 of part endoporus, and O ' X ' Y ' is plane, 311 place, part endoporus upper edge 32, and O ' Z ' is the central shaft of part endoporus 31;
Oxyz is the camera coordinate system, and it is defined as: o is camera main shaft 21 and the intersection point of camera as plane 22, and oxy represents camera as plane 22, and oz is outside as plane 22 perpendicular to camera.
To OXYZ, O ' X ' Y ' Z ', oxyz, carry out following analysis based on above:
Make (x
c, y
c, z
c) expression three-dimensional coordinate in camera coordinate system oxyz a bit arbitrarily on the object, (u, represent that v) this point is through the image transformation shown in Fig. 3 (b) after, camera as plane 22 on the coordinate of corresponding point.According to the projection imaging model, put as can be known and be expressed as the corresponding relation in plane and the camera coordinate system:
Wherein, (u
0, v
0) be camera central shaft 21 and the coordinate of camera as plane 22 intersection points, f is the camera focal length, and Δ x, Δ y are the distance between camera level and the vertical direction sensitivity speck, and λ is a scale factor.
Can draw from formula (1)
λ＝1/z
c (2)
From (3), (4) formula as can be seen camera as the picture point the plane 22 (u, position v) is in the camera parameter f, Δ x is under the known situation of Δ y, only with the coordinate (x of actual object in the camera coordinate system
c, y
c, z
c) relevant, and u only with x
c, z
cRelevant, v only with y
c, z
cRelevant.At x
c, y
cUnder the fixing situation, z
cBig more, u, v is more little, thereby the figure that forms in camera image is more little, form the phenomenon of annular region 221 in camera image as the part endoporus 31 among Fig. 3 (b): lower edge 312 correspondences of part endoporus annular region inward flange 223, and part endoporus upper edge 312 correspondences annular region outward flange 222.
Can draw to draw a conclusion: in shaft parts and the assembling of part endoporus, camera be positioned at treat part endoporus 31 directly over, and when camera central shaft 21 is parallel with part endoporus central shaft (O ' Z '), the annular region outward flange 222 and the inward flange 222 that extract in the image that camera obtains are concentricity, that is:
Annular region outward flange center hole shape in inward flange and outer peripheral distance and the part is relevant.In the fittage of reality, the shape of part endoporus 31 may be circular, square or triangle, and the assembling of the part endoporus 31 of circular shaft parts 33 and circle is the most general fit, below we mainly are example with the circular hole, the annular region inward flange that explanation part endoporus 31 forms in camera image, the distance relation between the outward flange are further proofreaied and correct strategy according to this relation design rigging error.
Fig. 4 is that camera 2 is positioned at circular part endoporus 31 tops, and part 3 is when existing different offsets and angle rotation error, the annular region synoptic diagram that part endoporus 31 forms in camera 2, wherein, critical piece comprises: camera 2, part 3, part endoporus 31, part endoporus upper edge 311, part endoporus lower edge 312, part outer edge 32, the annular region 221 that part endoporus 31 forms in camera image, the outward flange 222 of the annular region that part endoporus 31 forms, the outward flange 223 of the annular region that part endoporus 31 forms, the edge 224 that the part outer edge forms in camera image.
(a) is that part 3 is by accurately clamping among Fig. 4, when camera 2 is positioned at directly over the circular part endoporus 31, the synoptic diagram of the edge image that part 3 forms, (b) is that part 3 is by accurately clamping among Fig. 4, when camera 2 is positioned at directly over the circular part endoporus 31, the synoptic diagram of the edge image that part endoporus 31 forms, (c) is that part 3 exists when taking back site error slightly among Fig. 4, camera 2 is positioned at part endoporus 31 tops, the synoptic diagram of edge image that part endoporus 31 becomes, (d) is that part 3 exists when taking back site error more greatly among Fig. 4, the position that takes over, the top that camera 2 is positioned at circular part endoporus 31, the synoptic diagram (dotted line is represented to be covered part by part endoporus 31 inwalls) of edge image that part endoporus 31 becomes, (e) is that part 3 is when existing less dextrorotation error among Fig. 4, camera 2 is positioned at directly over the circular part endoporus 31, the synoptic diagram of the edge image that part endoporus 31 is become, (f) is that part 3 is when existing dextrorotation and position to move to left double error among Fig. 4, camera 2 is positioned at the top of circular part endoporus 31, the synoptic diagram of circular edge image that part endoporus 31 becomes, (g) is that part 3 is when existing dextrorotation and position to move to right double error among Fig. 4, camera 2 is positioned at the top of circular part endoporus 31, the synoptic diagram of circular edge image that part endoporus 31 becomes, (h) is that part 3 is when existing big dextrorotation error among Fig. 4, camera 2 is positioned at the top of circular part endoporus 31, the synoptic diagram of circular edge image that part endoporus 31 becomes.
Provided among Fig. 4 when part 3 locations and angular error, the morphological feature at several edges that part endoporus upper edge 311, part endoporus lower edge 312 may form in camera image, these features are the images that obtain by to camera 2, adopt image processing algorithm to extract the edge of annular region from the image of camera, the concrete steps of image processing algorithm are as follows:
Step 2a: the image of part endoporus 31 is converted into gray level image, and adopts Gaussian filter that gray level image is carried out smoothing processing;
Step 2b: Buddhist nun (Canny) algorithm extraction gray-scale Image Edge is born in employing according to gray level image, obtains single pixel edge image of binaryzation;
Step 2c: adopt corrosion and expansion algorithm, remove the shorter and smaller noise edge in single pixel edge image background, the curve that has breakpoint on single pixel edge image is connected to become long continuous curve, the image that obtains having longer edges;
Step 2d: adopt the method for Hough transformation, from image, extract and the similar curve of known part endoporus edge geometric configuration, be: from image, extract circle, ellipse and long camber line with longer edges with longer edges;
Step 2e: according to the camera image-forming principle, obtain following three features: the outward flange of part endoporus upper edge correspondence is that the inward flange of curve, the part endoporus lower edge correspondence of complete known form is positioned at outward flange inside fully and inward flange is parallel with the outward flange part, forms the outward flange curve and the inward flange curve of annular region in the image that comprises with part endoporus edge geometric configuration similar curves according to described three feature extraction part endoporus.
Step 2e: according to the camera image-forming principle, obtain following three features: the outward flange of part endoporus upper edge correspondence is that the inward flange of curve, the part endoporus lower edge correspondence of complete known form is positioned at outward flange inside fully and inward flange is parallel with the outward flange part; At the part endoporus 31 of circle, above-mentioned three are characterized as: it is parallel with the outward flange part with inward flange that the outward flange of circular part endoporus upper edge 311 correspondences is that the inward flange of complete circle or ellipse, circular part endoporus lower edge 312 correspondences is positioned at outward flange inside fully; In the image that comprises with part endoporus edge geometric configuration similar curves, form the outward flange curve and the inward flange curve of annular region according to described three feature extraction part endoporus, that is: extract the outward flange (oval or circle) and inward flange (oval, the round or one section arc) curve of the annular region that circular part endoporus 31 forms in comprising circle, oval and image than spiral.
When the part endoporus is shaped as square or during triangle, need the step 2d and the step 2e of above-mentioned image processing algorithm be made amendment, so that part endoporus that image processing algorithm can square shaped and annular region outward flange and the inward flange that leg-of-mutton part endoporus forms in camera image extract.
At square (perhaps leg-of-mutton) part endoporus, the step 2d of above-mentioned image processing algorithm and step 2e are revised as:
Step 2d: adopt the method for Hough transformation, extract the straight line of segmentation from the image with longer edges, the position that exists between the straight line of follow-up segmentation relation extracts square (the perhaps triangle) that have in the longer edges image;
Step 2e: according to the camera image-forming principle, obtain following three features: the outward flange of part endoporus upper edge 311 correspondences of square (perhaps triangle) is the square or rectangular (perhaps triangle) similar to hole shape in the part, the inward flange of square (perhaps triangular form) part endoporus lower edge 312 correspondences is positioned at inner parallel with outward flange with inward flange or the coincidence of outward flange fully, the outward flange and the inward flange curve of the annular region that forms in the image that comprises square (perhaps triangle) according to three square (perhaps leg-of-mutton) part endoporus 31 of feature extraction.
Fig. 5 is that part 2 is when existing different deviation, the different annular regions that part endoporus 31 forms on camera image, by the spatial alternation of polar coordinates to rectangular coordinate, the different two-dimensional curve figure that forms, wherein, critical piece comprises: the annular region outward flange 222 that part endoporus 31 forms in camera image, the annular region outward flange 223 that part endoporus 31 forms in camera image.
Among Fig. 5 (a) with on the inner bore of part among Fig. 4 (c) along 311 and inner bore of part under form outward flange radius curve and inward flange and outward flange distance radius curve by polar coordinates to the conversion of rectangular co-ordinate along the 312 annular region outward flanges that form and inward flange; Among Fig. 5 (b) with on the inner bore of part among Fig. 4 (d) along 311 and inner bore of part under form outward flange radius curve and inward flange and outward flange distance radius curve by polar coordinates to the conversion of rectangular co-ordinate along the 312 annular region outward flanges that form and inward flange; Among Fig. 5 (c) with on the inner bore of part among Fig. 4 (e) along 311 and inner bore of part under form outward flange radius curve and inward flange and outward flange distance radius curve by polar coordinates to the conversion of rectangular co-ordinate along the 312 annular region outward flanges that form and inward flange; Among Fig. 5 (d) with on the inner bore of part among Fig. 4 (f) along 311 and inner bore of part under form outward flange radius curve and inward flange and outward flange distance radius curve by polar coordinates to the conversion of rectangular co-ordinate along the 312 annular region outward flanges that form and inward flange; Among Fig. 5 (e) with on the inner bore of part among Fig. 4 (g) along 311 and inner bore of part under form outward flange radius curve and inward flange and outward flange distance radius curve by polar coordinates to the conversion of rectangular co-ordinate along the 312 annular region outward flanges that form and inward flange, among Fig. 5 (f) with on the inner bore of part among Fig. 4 (h) along 311 and inner bore of part under along the 312 annular region outward flanges that form and inward flange by conversion formation outward flange radius curve and inward flange and the outward flange distance radius curve of polar coordinates to rectangular co-ordinate.
According to Fig. 5, with part endoporus 31 in camera image the annular region outward flange and inward flange by polar coordinates to the spatial alternation algorithm of rectangular coordinates transformation, the step that forms outward flange radius curve and inward flange and outward flange distance radius curve provides as follows:
Step 3a: the outer peripheral geometric center of annular region that forms in camera image with the part endoporus is an initial point, sets up the polar coordinate system on the edge image plane at annular region place; At the part endoporus 31 of circle, this step should be: form greatest circle in annular region inward flange and the outward flange image (perhaps oval) according to the part endoporus with circle in camera image, calculate its geometric center o; With o is initial point, the polar coordinate system of setting up with optional on the edge image plane at the annular region place direction x direction that is polar coordinate system, if the part endoporus is shaped as square or triangle, then the calculating of annular region geometric center o should be the outer peripheral geometric center of annular region, i.e. maximum square or leg-of-mutton geometric center in the image at annular region place;
Step 3b: with polar x axle is axis of reference, intersect from the vector of polar coordinate system initial point and annular region, and should vector and annular region inward flange and outward flange meet at 2 points; At the part endoporus 31 of circle, this step should be: with polar x axle is axis of reference, intersect from the vectorial ow of polar coordinate system initial point o and annular region, and vectorial ow and annular region inward flange and outward flange meets at 2 points, and focus is respectively A, B.Order
d＝|AB|，r＝|oB|；
Step 3c: represent the anglec of rotation from ox to ow can make up following funtcional relationship with θ:
d＝f(θ)，r＝g(θ) (5)
Wherein, r is for being the outward flange radius curve, its physical meaning is the distance of polar coordinates initial point o and vectorial ow and outward flange intersection point, and d is inward flange and outward flange distance radius curve, and its physical meaning is the distance of polar coordinates initial point o and vectorial ow and inward flange and outward flange intersection point;
Step 3d: with initial point in the polar coordinate system is that the vector of starting point and polar coordinates x axle angle theta are since 0, with step-length is 0.01, be increased to 2 π, according to above-mentioned funtcional relationship, calculate corresponding d (θ) and r (θ), construct outward flange radius curve r (θ) and the inward flange and the outward flange distance radius curve d (θ) of discrete type, be the curve among Fig. 5.
When the part endoporus is shaped as square or during triangle, still can use above-mentioned polar coordinates to the spatial alternation algorithm of rectangular coordinates transformation with annular region outward flange and inward flange that part endoporus 31 forms in camera image, be for conversion into outward flange radius curve and inward flange and outward flange distance radius curve.By annular region outward flange and inward flange are used the spatial alternation algorithm of polar coordinates to rectangular coordinate, the specificity analysis problem that becomes outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ) is simplified in the inward flange and the problem analysis of outward flange offsets that part endoporus 31 are formed annular region in camera image.
Below according to outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ), by geometric transformation algorithm based on projective theorem, carry out the calculating of offset of actual part endoporus and angular deflection error, offset sum of errors angular deflection error according to the part endoporus that calculates is carried out the aligning adjustment of camera and part endoporus, to proofread and correct part endoporus 31 offset errors, estimation of error and aligning set-up procedure are as follows:
Step 4a: the pattern curve of r (θ) is made comparisons during with the true form curve of r (θ) and non-angular deviation, have on the pattern curve of r (θ) when obtaining the true form curve of r (θ) and bias free equal value the some correspondence be θ, be the outer peripheral no deformation direction of annular region in the part endoporus image, according to the true form curve of r (θ) deformation extent of the pattern curve of r (θ) during with respect to the non-angular deviation on perpendicular to the direction of the outer peripheral no deformation direction of annular region, calculate the deformation ratio of annular region outer edge again; At the part endoporus 31 of circle, this step should be: according on the same ellipse any 5 can this ellipse of reconstruct (because the equation of arbitrary ellipse is on the plane:
Contain a, b, x
0, y
0, these 5 parameters of θ), on this curve of r (θ), the school select equably 25 points (such as
K=0,1,2 ..., 25 points are got at 24 places), 5 ellipses of reconstruct make up an elliptic curve more accurately to these 5 ellipses by average mode then, calculate elliptical center position O, transverse a and ellipse short shaft b;
Step 4b: according to the geometric projection relation of camera imaging, utilize the outer peripheral no deformation direction angle θ of annular region, calculate the angular deviation direction of part endoporus
Utilize the outer peripheral deformation ratio of annular region, calculate the angular deflection error alpha of part endoporus; At the part endoporus 31 of circle, this step should be: according to the ratio of transverse a and ellipse short shaft b, estimate the angle [alpha] (according to a=max r, b=maxrcos α) of part endoporus 31 deflections.According to the deflection of ellipse in camera image, can estimate the angular deviation direction of part endoporus 31
That is: the outward flange of the annular region 221 that forms in camera image of part endoporus 31 exists
The angular error that has α on the direction;
Step 4c: obtain the central point O of outward flange and inward flange and the position of O ' according to r (θ) and r (θ)-d (θ), and according to the position of central point O and part endoporus in the angular deviation direction
On when having the angular error of α, calculate the rotation error that only there is the α angle in the part endoporus not during the offset error of location, the position O of little elliptical center in part endoporus image "; Part endoporus 31 at circle, this step should be: adopt identical method among the step a according to r (θ)-d (θ), obtain the annular region inward flange, be complete little ellipse or the little elliptic arc of part, determine the position O ' of center in camera image of little ellipse; Exist according to O point position and part endoporus 31
When having the angular error of α on the direction, when calculating part endoporus 31 only exists rotation error not have translation error, annular region inward flange (the part endoporus is) the position O of center in camera image ";
Step 4d: according to O ' and O " relative position relation and distance poor, determine the offset direction of part endoporus 31
With
Offset error delta D on the direction;
Step 4e: according to the offset direction
With
Offset error delta D on the direction, angular deviation direction
With
Have α on the direction, with six shaft mechanical arms the 6th shaft end 111, earlier to-
Direction translation Δ D, edge again
Direction anglec of rotation α;
So far, the first-order error trimming process is finished.Afterwards, continue the process of repeating step S2 to step S4, until the Δ D that calculates and α within the error allowed band, that is: Δ D＜ε
1, α＜ε
2(ε
1, ε
2Require the error criterion of formulation according to different assembly precisions).
When the part endoporus is shaped as square or during triangle, need step 4a, step 4b and the step 4c of above-mentioned geometric transformation algorithm based on projective theorem be made amendment, calculate part endoporus offset sum of errors angular deflection error to get outward flange radius curve r (θ) that the geometric transformation algorithm can form according to square part endoporus and leg-of-mutton part endoporus and inward flange and outward flange distance radius curve d (θ) based on the photography theorem.
At square (perhaps leg-of-mutton) part endoporus, the step 4a of above-mentioned image processing algorithm, step 4b and step 4c are revised as:
Step 4a: the pattern curve (being obtained by the spatial alternation algorithm of polar coordinate system to rectangular coordinate system by the square or triangle similar to hole shape in the part) of r (θ) is made comparisons during with the non-angular deviation with the true form curve of r (θ), have on the pattern curve of r (θ) when obtaining the true form curve of r (θ) and bias free equal value the some correspondence be θ, be the outer peripheral no deformation direction of annular region in the part endoporus image, according to the true form curve of r (θ) deformation extent of the pattern curve of r (θ) during with respect to the non-angular deviation on perpendicular to the direction of the outer peripheral no deformation direction of annular region, calculate the outer peripheral deformation ratio of annular region in the camera image again;
Step 4b: according to the geometric projection relation of camera imaging, utilize the outer peripheral no deformation direction angle θ of annular region, calculate the angular deviation direction of part endoporus
Utilize the outer peripheral deformation ratio of annular region, calculate the angular deflection error alpha of part endoporus;
Step 4c: obtain annular region outward flange and the central point O of inward flange and the position of O ' square or that triangle part endoporus forms according to r (θ) and r (θ)-d (θ) in camera image, and according to the position of central point O and part endoporus in angular deviation
When having the angular error of α on the direction, calculate the rotation error that only there is the α angle in the part endoporus not during the offset error of location, the position O of little elliptical center in part endoporus image ".
The above; only be the embodiment among the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected; all should be encompassed in of the present invention comprising within the scope, therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (8)
1. the bearing calibration of a part endoporus azimuthal error in the axis hole assembling is characterized in that may further comprise the steps:
Step S1: will be put on the anchor clamps with the part of endoporus and clamp, and make the upper edge of part endoporus exposed; The camera of having demarcated that is fixed on six shaft mechanical arms the 6th shaft end is moved to the top of part endoporus, its exposed plane parallel when the part endoporus as plane and precognition of described camera is accurately located; Adjust the height of camera above the part endoporus, make camera can obtain the image of part endoporus clearly, and guarantee that the part endoporus occupies big zone in image;
Step S2: obtain part endoporus image by camera, utilize image processing algorithm again, extract annular region that the part endoporus forms in camera image, extract the edge that part endoporus upper edge and lower edge form in camera image, described edge is the inward flange and the outward flange of annular region;
Step S3: the outer peripheral center of gravity of annular region that forms in camera image with the part endoporus is an initial point, set up polar coordinate system, utilize the spatial alternation algorithm of polar coordinate system to rectangular coordinate system, outward flange and inward flange by annular region make up outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ), these two curve horizontal ordinates are that initial point is the angle θ of the vector of starting point in the polar coordinate system, and ordinate is respectively the length that the length of described vector and annular region outward flange intersection point line segment and vector and annular region intersect line segment;
Step S4:, utilize the position deviation direction of trying to achieve the part endoporus based on the geometric transformation algorithm of projective theorem according to outward flange radius curve r (θ) and inward flange and these two curves of outward flange distance radius curve d (θ)
With
Departure Δ D on the direction and angular deviation direction
With
Departure α on the direction;
Step S5: if satisfy departure Δ D＜ε
1, α＜ε
2, end step; If do not satisfy departure Δ D＜ε
1, α＜ε
2, then adjust the opposite direction of camera along position deviation
The distance of mobile Δ D, adjust again camera along
Opposite spin α, forward step S2 then to; Wherein, ε
1, ε
2Be to require the error criterion formulated according to different assembly precisions.
2. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1, described camera is a monocular cam, the main shaft of camera is parallel with the 6th central axis of six shaft mechanical arms, camera is fixed on the 6th shaft end of six shaft mechanical arms, with the motion campaign of six shaft mechanical arms.
3. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1, it is characterized in that described exposed plane is under the perfect condition, when part is accurately located by anchor clamps, the plane at place, hole in piece part upper edge, this plane is vertical with part endoporus axis.
4. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1 is characterized in that the concrete steps of described image processing algorithm are:
Step 2a: part endoporus image is converted into gray level image, and adopts Gaussian filter that gray level image is carried out smoothing processing;
Step 2b: adopt the Canny algorithm to extract gray-scale Image Edge according to gray level image, obtain single pixel edge image of binaryzation;
Step 2c: adopt corrosion and expansion algorithm, remove the shorter and smaller noise edge in single pixel edge image background, the curve that has breakpoint on single pixel edge image is connected to become long continuous curve, the image that obtains having longer edges;
Step 2d: adopt the method for Hough transformation, from image, extract and the similar curve of known part endoporus edge geometric configuration with longer edges;
Step 2e: according to the camera image-forming principle, obtain following three features: the outward flange of part endoporus upper edge correspondence is that the inward flange of curve, the part endoporus lower edge correspondence of complete known form is positioned at outward flange inside fully and inward flange is parallel with the outward flange part, forms the outward flange curve and the inward flange curve of annular region in the image that comprises with part endoporus edge geometric configuration similar curves according to described three feature extraction part endoporus.
5. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1, it is characterized in that, described polar coordinate system is to carry out the conversion of polar coordinates to rectangular coordinate at annular region outward flange and inward flange image to the spatial alternation algorithm of rectangular coordinate system, and the concrete steps of this conversion are:
Step 3a: the outer peripheral geometric center of annular region that forms in camera image with the part endoporus is an initial point, sets up the polar coordinate system on the edge image plane at annular region place;
Step 3b: with polar x axle is axis of reference, intersect from the vector of polar coordinate system initial point and annular region, and should vector and annular region inward flange and outward flange meet at 2 points;
Step 3c: the rotation angle with vector and x axle is an independent variable, the polar coordinates initial point is dependent variable to vector with outward flange intersection point and distance vectorial and inward flange and outward flange intersection point, structure outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ) simplify the specificity analysis problem that becomes outward flange radius curve r (θ) and inward flange and outward flange distance radius curve d (θ) to the offsets problem analysis at the annular region edge in the binaryzation edge image at part endoporus annular region place like this; Wherein, described two curve horizontal ordinates are the angle θ at vector and x axle clamp angle, and ordinate is respectively initial point to length and length vectorial and the crossing line segment of annular region vectorial and annular region outward flange intersection point line segment;
Step 3d: with initial point in the polar coordinate system is that the vector of starting point and polar coordinates x axle angle theta are since 0, with step-length is 0.01, be increased to 2 π, calculate corresponding d (θ) and r (θ), construct outward flange radius curve r (θ) and the inward flange and the outward flange distance radius curve d (θ) of discrete type.
6. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1, it is characterized in that, described geometric transformation algorithm based on projective theorem is the two-dimensional curve r (θ) according to structure, d (θ) carries out the calculating of actual part endoporus offset sum of errors angular deflection error, and the concrete steps of this calculating are:
Step 4a: the pattern curve of r (θ) is made comparisons during with the true form curve of r (θ) and non-angular deviation, have on the pattern curve of r (θ) when obtaining the true form curve of r (θ) and bias free equal value the some correspondence be θ, be the outer peripheral no deformation direction of annular region in the part endoporus image, according to the true form curve of r (θ) deformation extent of the pattern curve of r (θ) during with respect to the non-angular deviation on perpendicular to the direction of the outer peripheral no deformation direction of annular region, calculate the deformation ratio of annular region outer edge again;
Step 4b: according to the geometric projection relation of camera imaging, utilize the outer peripheral no deformation direction angle θ of annular region, calculate the angular deviation direction of part endoporus
Utilize the outer peripheral deformation ratio of annular region, calculate the angular deflection error alpha of part endoporus;
Step 4c: obtain the central point O of outward flange and inward flange and the position of O ' according to r (θ) and r (θ)-d (θ), and according to the position of central point O and part endoporus in angular deviation
When having the angular error of α on the direction, calculate the rotation error that only there is the α angle in the part endoporus not during the offset error of location, the position O of little elliptical center in part endoporus image ";
Step 4d: according to O ' and O " relative position relation and distance poor, determine the offset direction of part endoporus
With
Offset error delta D on the direction.
7. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1 is characterized in that described part endoporus is circular hole, square hole or delthyrium.
8. the bearing calibration of part endoporus azimuthal error in the axis hole assembling according to claim 1 is characterized in that, the zone of 50%-80% is occupied in described big zone in the image that camera obtains for the part endoporus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010034357 CN102128589B (en) | 2010-01-20 | 2010-01-20 | Method for correcting azimuth errors of inner bore of part in process of assembling axle hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010034357 CN102128589B (en) | 2010-01-20 | 2010-01-20 | Method for correcting azimuth errors of inner bore of part in process of assembling axle hole |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102128589A true CN102128589A (en) | 2011-07-20 |
| CN102128589B CN102128589B (en) | 2013-03-13 |
Family
ID=44266772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010034357 Active CN102128589B (en) | 2010-01-20 | 2010-01-20 | Method for correcting azimuth errors of inner bore of part in process of assembling axle hole |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102128589B (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495964A (en) * | 2011-12-09 | 2012-06-13 | 湖南科技大学 | Computing method for two-dimensional multistation assembly success rate |
| CN103307987A (en) * | 2013-06-27 | 2013-09-18 | 爱司帝光电科技(苏州)有限公司 | Assembling method for assembling objects |
| CN103612089A (en) * | 2013-11-18 | 2014-03-05 | 深圳市智信精密仪器有限公司 | Alignment assembly method and device for cylindrical assembly parts |
| CN104275627A (en) * | 2013-07-10 | 2015-01-14 | 达观科技有限公司 | Object correction method |
| CN104296657A (en) * | 2014-10-11 | 2015-01-21 | 三峡大学 | Stone wall blasthole detecting and positioning device based on binocular vision and positioning method |
| CN104296658A (en) * | 2014-10-11 | 2015-01-21 | 三峡大学 | Stone wall blasthole detecting and positioning device based on virtual binocular vision and positioning method |
| CN104897070A (en) * | 2014-03-07 | 2015-09-09 | 达观科技有限公司 | Processing article basic specification detection method |
| CN105563481A (en) * | 2014-11-11 | 2016-05-11 | 沈阳新松机器人自动化股份有限公司 | Robot vision guide method used for shaft hole assembling |
| CN105835074A (en) * | 2015-01-12 | 2016-08-10 | 广明光电股份有限公司 | Teaching method for picking up and placing articles by robot arm |
| CN106780425A (en) * | 2015-11-24 | 2017-05-31 | 核动力运行研究所 | A kind of VVER steam generator heat-transfer pipe vortexes detecting system localization method |
| CN106862860A (en) * | 2015-12-10 | 2017-06-20 | 贵州红林机械有限公司 | It is a kind of to fire the lubricating oil pump control mechanism method with closure shell again |
| CN107816941A (en) * | 2016-09-14 | 2018-03-20 | 波音公司 | Perform the photogrammetric identification in the place of work |
| CN108550142A (en) * | 2018-03-30 | 2018-09-18 | 深圳大学 | A kind of tooth hole inspection method and hole inspection and device |
| CN110057332A (en) * | 2019-05-05 | 2019-07-26 | 大连理工大学 | A kind of test structure assembly precision regulation method based on basis of sensitivity analysis |
| CN110220882A (en) * | 2019-05-30 | 2019-09-10 | 深圳前海达闼云端智能科技有限公司 | Sample detection method, sample detection device, sample calculation device, and computer storage medium |
| CN110238839A (en) * | 2019-04-11 | 2019-09-17 | 清华大学 | It is a kind of to optimize non-molding machine people multi peg-in-hole control method using environmental forecasting |
| CN110514906A (en) * | 2019-08-19 | 2019-11-29 | 中国地质大学（武汉） | High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination |
| CN110955983A (en) * | 2019-12-18 | 2020-04-03 | 上汽大众汽车有限公司 | Simulation calculation method for automobile chassis assembly success rate |
| CN111043965A (en) * | 2020-01-09 | 2020-04-21 | 北京印刷学院 | Force position mixing shaft hole position measuring system and method |
| CN111783529A (en) * | 2019-07-26 | 2020-10-16 | 牧今科技 | Post-detection improvement based on edges and multi-dimensional corners |
| CN113340258A (en) * | 2021-05-26 | 2021-09-03 | 珠海市一微半导体有限公司 | Hough transform-based rotation angle acquisition method, chip and robot |
| US11389965B2 (en) | 2019-07-26 | 2022-07-19 | Mujin, Inc. | Post-detection refinement based on edges and multi-dimensional corners |
| CN115493499A (en) * | 2021-12-30 | 2022-12-20 | 北京航天飞行控制中心 | Method and system for assembling cylinder or cylinder-like body |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2242179C (en) * | 1997-07-07 | 2006-10-03 | Takao Shibayama | Method of, and apparatus for, measuring position of hole |
-
2010
- 2010-01-20 CN CN 201010034357 patent/CN102128589B/en active Active
Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495964B (en) * | 2011-12-09 | 2014-09-17 | 湖南科技大学 | Computing method for two-dimensional multistation assembly success rate |
| CN102495964A (en) * | 2011-12-09 | 2012-06-13 | 湖南科技大学 | Computing method for two-dimensional multistation assembly success rate |
| CN103307987A (en) * | 2013-06-27 | 2013-09-18 | 爱司帝光电科技(苏州)有限公司 | Assembling method for assembling objects |
| CN104275627A (en) * | 2013-07-10 | 2015-01-14 | 达观科技有限公司 | Object correction method |
| CN104275627B (en) * | 2013-07-10 | 2016-04-27 | 达观科技有限公司 | Object bearing calibration |
| CN103612089B (en) * | 2013-11-18 | 2016-05-18 | 深圳市智信精密仪器有限公司 | Centered assembling method and the device of cylinder assembly parts |
| CN103612089A (en) * | 2013-11-18 | 2014-03-05 | 深圳市智信精密仪器有限公司 | Alignment assembly method and device for cylindrical assembly parts |
| CN104897070B (en) * | 2014-03-07 | 2018-04-17 | 达观科技有限公司 | Process the detection method of object base specification |
| CN104897070A (en) * | 2014-03-07 | 2015-09-09 | 达观科技有限公司 | Processing article basic specification detection method |
| CN104296657B (en) * | 2014-10-11 | 2016-09-07 | 三峡大学 | The detection of a kind of cliff blast hole based on binocular vision and positioner and localization method |
| CN104296658B (en) * | 2014-10-11 | 2016-09-07 | 三峡大学 | The detection of a kind of cliff blast hole based on virtual binocular vision and positioner and localization method |
| CN104296658A (en) * | 2014-10-11 | 2015-01-21 | 三峡大学 | Stone wall blasthole detecting and positioning device based on virtual binocular vision and positioning method |
| CN104296657A (en) * | 2014-10-11 | 2015-01-21 | 三峡大学 | Stone wall blasthole detecting and positioning device based on binocular vision and positioning method |
| CN105563481A (en) * | 2014-11-11 | 2016-05-11 | 沈阳新松机器人自动化股份有限公司 | Robot vision guide method used for shaft hole assembling |
| CN105835074A (en) * | 2015-01-12 | 2016-08-10 | 广明光电股份有限公司 | Teaching method for picking up and placing articles by robot arm |
| CN105835074B (en) * | 2015-01-12 | 2020-07-10 | 达明机器人股份有限公司 | Teaching method for picking and placing object by robot arm |
| CN106780425B (en) * | 2015-11-24 | 2020-05-22 | 核动力运行研究所 | Positioning method of vortex detection system of heat transfer tube of VVER steam generator |
| CN106780425A (en) * | 2015-11-24 | 2017-05-31 | 核动力运行研究所 | A kind of VVER steam generator heat-transfer pipe vortexes detecting system localization method |
| CN106862860A (en) * | 2015-12-10 | 2017-06-20 | 贵州红林机械有限公司 | It is a kind of to fire the lubricating oil pump control mechanism method with closure shell again |
| CN107816941B (en) * | 2016-09-14 | 2021-12-03 | 波音公司 | Photogrammetric identification of a place where work is performed |
| CN107816941A (en) * | 2016-09-14 | 2018-03-20 | 波音公司 | Perform the photogrammetric identification in the place of work |
| CN108550142A (en) * | 2018-03-30 | 2018-09-18 | 深圳大学 | A kind of tooth hole inspection method and hole inspection and device |
| WO2019184094A1 (en) * | 2018-03-30 | 2019-10-03 | 深圳大学 | Threaded hole detecting method and device |
| CN110238839A (en) * | 2019-04-11 | 2019-09-17 | 清华大学 | It is a kind of to optimize non-molding machine people multi peg-in-hole control method using environmental forecasting |
| CN110238839B (en) * | 2019-04-11 | 2020-10-20 | 清华大学 | Multi-shaft-hole assembly control method for optimizing non-model robot by utilizing environment prediction |
| CN110057332A (en) * | 2019-05-05 | 2019-07-26 | 大连理工大学 | A kind of test structure assembly precision regulation method based on basis of sensitivity analysis |
| CN110220882A (en) * | 2019-05-30 | 2019-09-10 | 深圳前海达闼云端智能科技有限公司 | Sample detection method, sample detection device, sample calculation device, and computer storage medium |
| CN110220882B (en) * | 2019-05-30 | 2022-05-17 | 深圳前海达闼云端智能科技有限公司 | Sample detection method, sample detection device, sample calculation device, and computer storage medium |
| CN111783529B (en) * | 2019-07-26 | 2021-07-09 | 牧今科技 | Post-detection improvement based on edges and multi-dimensional corners |
| CN111783529A (en) * | 2019-07-26 | 2020-10-16 | 牧今科技 | Post-detection improvement based on edges and multi-dimensional corners |
| US11389965B2 (en) | 2019-07-26 | 2022-07-19 | Mujin, Inc. | Post-detection refinement based on edges and multi-dimensional corners |
| US11850760B2 (en) | 2019-07-26 | 2023-12-26 | Mujin, Inc. | Post-detection refinement based on edges and multi-dimensional corners |
| CN110514906A (en) * | 2019-08-19 | 2019-11-29 | 中国地质大学（武汉） | High-precision Microwave cavity body filter adjustment method and system based on hand eye coordination |
| CN110955983A (en) * | 2019-12-18 | 2020-04-03 | 上汽大众汽车有限公司 | Simulation calculation method for automobile chassis assembly success rate |
| CN110955983B (en) * | 2019-12-18 | 2023-08-18 | 上汽大众汽车有限公司 | Simulation calculation method for automobile chassis assembly success rate |
| CN111043965A (en) * | 2020-01-09 | 2020-04-21 | 北京印刷学院 | Force position mixing shaft hole position measuring system and method |
| CN113340258A (en) * | 2021-05-26 | 2021-09-03 | 珠海市一微半导体有限公司 | Hough transform-based rotation angle acquisition method, chip and robot |
| CN113340258B (en) * | 2021-05-26 | 2023-03-10 | 珠海一微半导体股份有限公司 | Hough transform-based rotation angle acquisition method, chip and robot |
| CN115493499A (en) * | 2021-12-30 | 2022-12-20 | 北京航天飞行控制中心 | Method and system for assembling cylinder or cylinder-like body |
| CN115493499B (en) * | 2021-12-30 | 2024-04-19 | 北京航天飞行控制中心 | Cylinder or cylinder-like assembly method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102128589B (en) | 2013-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102128589B (en) | Method for correcting azimuth errors of inner bore of part in process of assembling axle hole | |
| CN111775146B (en) | Visual alignment method under industrial mechanical arm multi-station operation | |
| CN105043259B (en) | Digit Control Machine Tool rotary shaft error detection method based on binocular vision | |
| CN109029257A (en) | Based on stereoscopic vision and the large-scale workpiece pose measurement system of structure light vision, method | |
| CN108015764B (en) | Spatial zero prior target capturing method based on multi-source visual information fusion | |
| CN103616016B (en) | Based on the pose vision measuring method of dotted line assemblage characteristic | |
| CN112223285B (en) | Robot hand-eye calibration method based on combined measurement | |
| CN110363707B (en) | Multi-view three-dimensional point cloud splicing method based on virtual features of constrained objects | |
| CN109048926A (en) | A kind of intelligent robot obstacle avoidance system and method based on stereoscopic vision | |
| CN105303560B (en) | Robotic laser scanning type weld seam tracking system calibrating method | |
| CN106990776B (en) | Robot homing positioning method and system | |
| CN107588721A (en) | The measuring method and system of a kind of more sizes of part based on binocular vision | |
| CN103245335B (en) | A kind of autonomous Servicing spacecraft super close distance vision pose measuring method in-orbit | |
| CN101359400A (en) | Process for positioning spatial position of pipe mouth based on vision | |
| CN102252661B (en) | Globoid three-dimensional positioning method for machine vision | |
| CN102567989A (en) | Space positioning method based on binocular stereo vision | |
| CN102650886A (en) | Vision system based on active panoramic vision sensor for robot | |
| CN102818544B (en) | On-line measurement method for pitch circle center of automobile hub bolt hole and central eccentric distance of central hole | |
| US10928191B2 (en) | Marker, and posture estimation method and position and posture estimation method using marker | |
| CN105335971A (en) | Workpiece processing accurate positioning method based on images | |
| CN106444774B (en) | Vision navigation method of mobile robot based on indoor illumination | |
| Oyama et al. | Three-dimensional mapping of pipeline from inside images using earthworm robot equipped with camera | |
| CN109146957B (en) | Robot vision control method based on triangular features | |
| CN208289898U (en) | The calibration system of robot tool | |
| Dong et al. | A Vision Algorithm for Robot Seam Tracking Based on Laser Ranging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |