气阀装配视觉系统标定方法研究

Research on Calibration Method of Vision System for Valve Assembly

基于机器视觉在工业上的广泛应用,对用于气阀装配的机器人视觉系统进行了标定研究,包括基于主动非线性的相机标定和基于Eye-in-hand方法的手眼标定,经实验证明,标定后的视觉系统对气阀的定位精度误差为0.52 mm,达到了气阀的定位与装配精度要求,实现了基于视觉的气阀与气缸间的定位与装配,对其他机器人视觉定位研究与设计具有重要的实用价值和意义。

Based on the wide application of machine vision in industry,the robot vision system used for valve assembly is calibrated,including camera calibration based on active nonlinearity and hand-eye calibration based on Eye-in-hand method.Experiments proves that the error of the positioning accuracy of the visual system after calibration is 0.52 mm,which meets the positioning and assembly accuracy requirements of the valves and the cylinders.This work realizes the precise positioning and assembly between the air valve and the cylinder based on vision system.It has important practical value and significance for the research and design of the visual positioning of other robots.