基于预加工孔CCD图像的零件视觉定位  

Visual Positioning Method of Work Piece Based on the CCD Figure of Preprocessed Hole

作　　者：曲东升[1] 伍星[1] 刘彦武[1] 闵继江 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080 [2]常州铭赛机器人科技有限公司,江苏常州213164

出　　处：《组合机床与自动化加工技术》2010年第9期79-82,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：863国家高技术研究发展计划(2006AA04Z331)

摘　　要：针对在薄板和微型零件上冲裁加工时装夹定位的难题,采用了一种基于预加工孔CCD图像来定位工件位置的方法。这种定位方法的精度取决于图像孔位置的测量精度。对此提出了Hough变换与最小二乘圆相结合的圆孔位置测定方法,消除了孔表面污渍、表面粗糙度及其它噪声的影响。该法利用二维灰度直方图对图像进行二值化处理,在对其边缘检测的基础上采用Hough变换粗测定以及最小二乘圆精密测定方法。仿真与实验证明孔位测定结果兼具鲁棒性与精密性。该方法实现了工件的微米级定位。Considering the problem of clamped positioning of punching on sheets or micro parts,a locating method using the CCD figure of a preprocessed hole is adopted.The precision of this method depends on the measuring precision of the hole＇s position.A Hough-Least-square circle detecting method is proposed to eliminate the effect of besmirch surface roughness and other noises.This method conducts the binary processing on the figure based on its two-dimensional gray histogram.The Hough rough and least-square circle precise detecting method is then conducted based on the edge detected from the processed image.The robustness and accuracy of hole measuring are testified by simulations and experiments This locating method realizes micron grade positioning of work piece.

关 键 词：视觉定位 薄板 不规则边缘 HOUGH变换 最小二乘圆 

分 类 号：TH164[机械工程—机械制造及自动化]