基于视觉技术的复杂空间装配中的精细对孔

Fine alignment of hole in complex space assembly based on vision technology

在复杂空间的自动化装配过程中,模块与模块安装位置的安装孔之间需要在孔位对准后用螺丝固定,针对这一问题,设计实现了一种精细对孔方法。该方法从安装孔视频流中定时读取一帧图像,在对图像进行滤波去噪、边缘检测等操作后,采用最小二乘法检测安装孔圆心坐标信息,根据安装孔之间的圆心距判断安装孔是否对准。实验在0.0625 mm的标定精度下,Hough圆变换和最小二乘法的圆心距检测结果分别是0.125 mm和0.06 mm。实验结果表明,在高精度的标定结果下,相比较Hough圆变换,最小二乘法能够更好地检测到安装孔的圆心坐标信息并实现精细对孔,同时表明该精细对孔方法是可行的。

In the automatic assembly process of complex space,the mounting holes of the module and module installation site need to be fixed with screws after the holes are aligned.Aiming at this problem,a fine hole alignment method is designed and implemented.This method reads a frame image from the video stream of the mounting hole at the same interval.After filtering,denoising,edge detection,and other operations for the image,the Least Square Method is used to detect the center coordinate information of the mounting hole,and judge whether the mounting hole is aligned according to the center distance between the mounting holes.Under the calibration accuracy of 0.0625 mm,the test results of the center distance of Hough circle transform and Least Square Method are 0.125 mm and 0.06 mm respectively.The experimental results show that,compared with Hough circle transformation,the Least Square Method can better detect the information about the coordinate of the center of the mounting hole and realize the fine alignment of the hole.At the same time,it shows that the fine alignment method is feasible.