Researching | Hole target detection and location of complex workpiece based on binocular vision

Journal of Applied Optics, Volume. 46, Issue 1, 137(2025)

Hole target detection and location of complex workpiece based on binocular vision

Chunyan ZHANG¹, Zhifeng ZHOU^1、*, Yun SHI², Guoling CHEN³, and Wenjie LI³

Author Affiliations

¹School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

²Shanghai Aerospace Equipment Manufacturer Co.,Ltd., Shanghai 200245, China

³Informatization Technique Center, Shanghai Institute of Space Power-Sources, Shanghai 200245, China

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Abstract Get PDF(in Chinese)

Figures&Tables (20)

References (15)

Paper Information

Figures & Tables(20)

Fig. 1. Target workpiece and detection features

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Fig. 2. Schematic diagram of calibration process

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Fig. 3. Accuracy analysis and verification of binocular camera module

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Fig. 4. Filtering effect

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Fig. 5. Grub Cut results

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Fig. 6. Horizontal line angle and two types of LS

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Fig. 7. Features of arc support LS

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Fig. 8. Arc support structure group

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Fig. 9. Effective area of arc

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Fig. 10. Ellipse detection procedures

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Fig. 11. Sampling and matching

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Fig. 12. Flow chart of circular-hole boundary sampling point set coordinate output

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Fig. 13. Measured circle fitting and theoretical as well as experimental values

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Fig. 14. Different methods of circle feature detection

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Fig. 15. Schematic diagram of key coordinate system in hand-eye calibration process

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Fig. 16. Center coordinates and normal vector offset error under different positions and poses

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Table 0. [in Chinese]

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Table 0. [in Chinese]

算法1 弧支持组形成过程伪代码

输入：弧支撑线段集

T_{l}

；生成线段的圆弧支撑区域

T_{r}

；包容角度

α

；线段使用状态参数

S

1: 　初始化：

G = \emptyset

；

2: 　循环：

3: 　|| 　从

T_{l}

中选择

l_{i}

，选择条件：

S (l_{i}) \neq u s e d

；设定：

g_{h e a d} = \emptyset

，

g_{t a i l} = \emptyset

，

l_{i} \Rightarrow

线段

l_{s}

的晶核；

4: 　|| 　循环：

5: 　|| 　| 　在

l_{s}

的头端搜索连续的弧支撑线段；

6: 　|| 　| 　从搜索结果中排除：

S = u s e d

，到

l_{s}

的角度偏差超过

2 α

；

7: 　|| 　| 　计算

l_{s}

头端的统计面积，使用

T_{r}

获得票数最高的线段

l_{k}

；

8: 　|| 　| 　刷新：

g_{h e a d} = g_{h e a d} \cup L_{k}

，

S (l_{k}) = u s e d

，

l_{s} = l_{k}

；

9: 　|| 　直到：

l_{s} = \emptyset

；

10: || 　设定：

l_{i} \Rightarrow

线段

l_{s}

的生长核；在

l_{s}

的尾部重复上述搜索过程即可得到

g_{t a i l}

；

11: || 　

g_{h e a d} = {L_{h 1}, \dots, L_{h n}}

，

g_{t a i l} = {L_{t 1}, \dots, L_{t n}}

\Rightarrow g = {L_{t n}, \dots, L_{t 1}, L_{i}, L_{h 1}, \dots, L_{h n}}

12: || 　刷新：

G = G \cup g

，

S (l_{i}) = u s e d

；

13: 直到：遍历所有弧支撑线段；

14: 返回：

G

；

输出：弧支撑群

G

Table 1. Calibration parameters of binocular camera system

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Table 1. Calibration parameters of binocular camera system

参数	左相机	右相机
焦距	$(2413.39, 2408.07)$	$(2447 .07, 2448.61)$
径向畸变	$(- 0.1257,0.2146,0.0091)$	$(- 0.0982,0.144 8, - 0.043 3)$
切向畸变	$(0.003 2,0.000 7)$	$(- 0.001 5,0.000 9)$
旋转矩阵	$[\begin{array}{r} 0.999 7 & 0.021 5 & - 0.013 7 \\ - 0.021 3 & 0.999 7 & 0.015 6 \\ 0.014 1 & - 0.015 3 & 0.999 8 \end{array}]$
平移向量	$[- 51.535 9, - 0.027 3, - 0.758 3]$

Table 2. Measurement results of criterion sphere

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Table 2. Measurement results of criterion sphere

位置序号/参数项	测量结果/mm	偏差（绝对值）/mm
0	20.008	0.020
1	20.151	0.162
2	19.869	0.119
3	20.171	0.183
4	20.116	0.128
5	19.943	0.045
6	20.013	0.025
真值	19.988 mm
最大误差	0.183 mm
均方根误差	0.106 mm

Table 3. Initial values of workpiece pose
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Table 3. Initial values of workpiece pose
圆心坐标/mm 法向量夹角/（ $^{\circ}$ ）
X轴 Y轴 Z轴
$[22.60, - 33.25,216.62]$ $88.13$ $88.50$ $2.40$

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Chunyan ZHANG, Zhifeng ZHOU, Yun SHI, Guoling CHEN, Wenjie LI. Hole target detection and location of complex workpiece based on binocular vision[J]. Journal of Applied Optics, 2025, 46(1): 137

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Paper Information

Category:

Received: Oct. 7, 2023

Accepted: --

Published Online: Apr. 1, 2025

The Author Email: Zhifeng ZHOU (周志峰)

DOI:10.5768/JAO202546.0103003

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology