视觉技术在圆孔识别定位中的应用

Application of Visual Technology for Circular Hole Recognition and Positioning

针对某微型产品圆形插孔保持力自动测量需求,提出一种圆孔识别定位视觉技术以适应任意规格产品的柔性测量。首先,利用二值化、形态学操作和粒子分析等算法实现圆孔目标的识别;其次,采用Canny边缘检测算法提取轮廓点,利用去除外围点的最小二乘曲线拟合算法进行圆孔边缘曲线拟合,并获取圆孔中心坐标;最后,通过相机标定、坐标变换实现圆孔中心的精准定位。PLC控制器根据定位坐标控制搬运伺服模组将圆孔顺序移动到插针伺服的正下方,以实现保持力柔性自动测量。实验结果表明:设计的视觉系统能够准确进行圆孔识别与定位,解决了该系列产品保持力柔性自动测量的工程实际问题。

Aiming at the requirement of automatic measurement of the holding force of circular holes of a micro product,a kind of vision technology for circular holes identification and positioning was proposed to adapt to the flexible measurement of different specification products.Firstly,binarization,morphological manipulation and particle analysis methods were used to realize the identification of circular holes target.Then,the Canny edge detection algorithm was used to extract contour points,and the least square curve fitting method based on removing peripheral points was used to fit the edge curve of a circular hole,and the coordinates of the center of circular holes were obtained.Finally,the precise location of the center of the circular holes was realized through camera calibration and coordinate transformation.According to the positioning coordinate,the PLC controller controlled the handling servo module to move the circular holes sequence directly below the pin insertion servo to realize the flexible automatic measurement of holding force.The experimental results show that the designed visual system can accurately identify and locate circular holes,which solve the practical engineering problem of flexible automatic measurement of the holding force for this series of products.