圆钢端面中心主辅眼视觉定位方法研究

A Main-auxiliary Eyes Visual Positioning Method for the End Surface Center of the Round Steel

针对机器人贴标系统对圆钢端面中心X、Y坐标与Z坐标测量精度要求的不同,提出了主辅眼视觉定位方法。设置主相机与辅相机,采用最小二乘法识别圆钢端面并拟合圆,主相机运用三角形内插值法标定求出较为精确的X、Y坐标,主、辅相机组成双目视觉系统运用张正友标定法进行二次标定获得主辅相机的内外参,通过形心匹配求视差值,再利用三角测距原理求出Z坐标。实验结果表明,主辅眼视觉定位方法求取的圆钢端面中心的X、Y坐标精度可达到±1mm以内,Z坐标精度可达到±5mm以内,能够满足圆钢端面机器人自动贴标的位置精度要求。

The robot labeling system requires different precisions for X,Y and Z coordinates of the end surface center of the round steel.A main-auxiliary eye visual positioning method is proposed.A main camera and an auxiliary camera are used in the system.The X and Y coordinates are obtained by the main camera,which is calibrated by the triangle interpolation method.The main and auxiliary cameras are calibrated by the method of Zhang Zhengyou the second time.The internal and external parameters of the main and auxiliary cameras are obtained.The parallax value is obtained by the matching of the centroid.The Z coordinate is obtained through the principle of trigonometric distance measurement.Experimental results show that the accuracy of the X and Y coordinate obtained by the main-auxiliary eyes visual positioning method can reach±1 mm,and the precision of Z coordinate can reach±5 mm.It can meet the position precision requirements of the robot automatic labeling on the end surfaces of the round steels.