摘要
针对当前不规则曲线型磨削轨迹提取效率低的问题,以某型号汽车刹车片支架毛坯件为研究对象,对其磨削轨迹的提取进行研究。首先建立摄像机标定模型,用Matlab相机标定工具箱进行相机标定实验,得到相机内外参数;然后用工业CMOS相机对毛坯件进行图像采集,用Matlab软件进行图像处理,得到毛坯件的磨削边缘;利用等弦高误差法对其进行离散化,得到若干离散点的在图像坐标系下的坐标;最后根据相机内外参数及坐标系间的变换关系进行坐标变换,得到离散点在世界坐标系下的坐标,并对其进行三次样条插值与拟合。拟合得到的磨削边缘效果良好,对进一步实现机器人磨削具有重要意义。
In this paper,the grinding trajectory extraction of a certain automobile brake block bracket is studied.First,the camera calibration model is established,and the camera calibration experiment is carried out with the Matlab camera calibration toolbox,and the camera’s internal and external parameters are obtained.Then,the images of rough workpiece images are acquired by using CMOS camera,and the images are processed by using Matlab software to get the grinding edge;By using the equal chord height error method,the grinding edge is discretized,and the coordinates of discrete points in the image coordinate system are obtained.Finally,the coordinates of the discrete points in the world coordinate system are obtained according to the camera’s internal and external parameters and the transformation relationship between coordinate systems;and cubic spline interpolation and fitting are done for discrete points.The fitting result of the discrete points is good and is of great significance for further robot grinding.
作者
田国富
徐远
TIAN Guofu;XU Yuan(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,CHN)
出处
《制造技术与机床》
北大核心
2019年第9期22-27,共6页
Manufacturing Technology & Machine Tool
基金
辽宁省自然科学基金项目(20170540674)
关键词
机器视觉
相机标定
磨削边缘
图像处理
坐标变换
machine vision
camera calibration
grinding edge
image processing
coordinate transformation
作者简介
第一作者:田国富,男,1968年生,博士后,教授,研究领域为机械系统的CAD/CAE技术、工程车辆设计等。
