Study On Parallel Robot Binocular Active Vision Plat Cutting Tool Location And Position And Pose Detection

To solve the state initiative recognizing problem of the parallel robot, stereo vision technology is introduced into it. And we built a circular guide rail based binocular active visual monitoring platform (BAVMP) to acquire the cutting tool state information in real time. The BAVMP is of significant theory importance and technology value in parallel robot accuracy and practicality. In this paper, we analyze and study the control system and the the cutting tool's image collection and position and pose detection based on the BAVMP.Firstly, basic computer vision theory was introduced. And the camera model of BAVMP was analyzed. Then image coordinate system, camera coordinate system and world coordinate system were expatiated. Then we studied the epipolar constraint theory and three-dimensional reconstruction theory on point, line and curve.Secondly, the electric control function and the interface between the vision service system and it were analyzed. We studied the servo motor sports module, the digital PTZ control module, the camera control module and the collaboration among them. The communications between the electric control function and the vision service system were completed. So did the image data collection.Thirdly, to obstain the better cutting tool image, we give a vision location method. We make the cutting tool centroid on the optic axis by adjusting the camera pose. Centroid position is searched according to the cutting tool feature. Then the adjusted swing angle and pitching angle is computed. And then the cutting tool-in area is transfered.Finally, based the cutting tool-in small area, cutting tool's position and pose detection method was studied. The inflection points extracted from the cutting tool edge images are regarded as the characteristic points. Based on epipolar geometry theory, the local regions whose center is characteristic points is corrected in the orientation and size. Then the space position is computed by mean of 3D reconstruction.In this paper,the experimental results show that this method can improve matching accuracy and speed, and is able to detect position and pose of cutting tool more accurately.