狭小空间内孔高测量机器人设计及视觉定位方法研究

Research on Design and Visual Positioning Method of Hole Height Measurement Robot in Narrow Space

针对狭小空间内人工测量孔高带来的问题,设计了一种基于视觉定位的移动测量机器人,通过车身的导向装置使机器人可以在箱体内沿着固定方向运动,使用Beckoff控制器和Elmo驱动器实现了机器人的运动控制系统,并使用机器视觉进行箱体底面的孔位引导,使孔高测量能精确定位到每个孔位上。结果显示,视觉系统采用Hough圆变换定位效果更好,能实现狭小空间内箱体底孔的精确定位。

Aiming at the problems caused by manual measurement of round hole in a narrow space,a mobile measurement robot based on visual positioning was designed.Through the guiding device of the body,the robot can move in the fixed direction in the box,and the motion control system of the robot was realized by using the Beckoff controller and the Elmo driver.The machine vision was used to guide the hole at the bottom of the box so that the measurement can be accurately positioned on each round hole.The results show that the vision system has a better positioning effect with the Hough transform algorithm and can accurately locate the bottom hole in a narrow space.