| Rigid body merging is a common project in the world of machinery, architecture, ship, building, chemical, aerospace. Currently, the work is mainly undertaken by manual operation. This method is inefficient, labor intensive, low accuracy, which is not suitable in automatic merging. So in this paper, a approach of rigid body automatic merging using the technology of machine vision is presented, which is highly automation, low cost, high precision and easy operation.The main contents are as followed:1. Made a systematic analysis about calibration of the camera, and the system of the rigid body merging was calibrated using binocular calibration method so as to obtain the camera intrinsic parameters^ distortion parameters and external parameters.2. Analyzed a variety of image preprocessing methods in the light of actual situation, and selected the suitable one for the system by experiment. Then the paper proposed a fast algorithm of circle center detection based on randomized Hough transform in high precision by comparison with the traditional Hough transform algorithm.3. The relation between the world coordinate system and the camera coordinate system was established, by which the rigid merging surface center 3D coordinate was calculated. At last the merging system was carried out according to the Principle above.4. In order to meet the hardware requirements of the rigid automatic merging system, made a reasonable choice of lens, CCD camera, frame grabber and 3D motion platform, and built the hardware platform with these devices. Combined with the hardware platform, software platform of the merging system was done.The experimental results show that the method proposed can complete the task of circular rigid body high precision automatic merging in practical application. This system is simple, inexpensive, docking accuracy within 0.17mm, which meets the needs of the actual merging. |
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