Visual Guiding And Positioning Technology Of Robotic Assembly

In recent years, the application of machine vision technology in industrial automation increasingly widespread. This paper studies the application of machine vision technology in the assembly process to improve the automation of assembly. The main application of machine vision industry for detecting, identifying the shape of the workpiece, the workpiece size measurement and position measurement of the workpiece and the like. In this paper, spline shaft hole for the study to study. Machine vision is mainly applied in industry for part inspection, workpiece shape recognition, workpiece size measurement and position measurements. In this paper, spline shaft and spline hole is treated as research objects.First, a camera vertical correction method has been proposed, and the method uses the square calibration plate, according to the imaging principle, to achieve the vertical of camera and work platforms. Based on OTSU, an improved segmentation method is proposed to achieve a separation for the flag icon. Target area range on the work is determined by identifying and analyzing mark icon. The object is detected in the determined area.Secondly, the spline is analyzed. Depending on the brightness difference between the spline area and non-spline area, spline area can be extracted. This paper proposes a method of region growing for spline area separation to obtain a good extraction. The measure of spline is achieved by calculating the three-dimensional geometric coordinates in the camera coordinate system of feature points which are the geometric feature points of the spline by analyzing the geometric characteristics of the spline. To achieve three-dimensional measurement of the target, you need to complete the image matching based on the basic principles of binocular measurements. For image matching results directly affect the positioning accuracy of the target, this paper proposes an image matching method based on feature points. By accurate positioning and matching of spline feature points in different images, precise positioning of spline can be achieved.Finally, alignment model of spline shaft and spline hole has been analyzed. Thispaper presents a method for detecting alignment of spline shaft and spline hole based spline gap to discriminate the alignment. According to the position of the camera and the relationship between the spline shaft and camera, the pixel area of gap can be determined based on the camera’s imaging model. The alignment can be achieved when the area of gap as detection window. The feasibility of the proposed method is verified by the guidance experiment.