Study on Detecting Method of Deflection Angle of C-shaped Hook for Steel Wire Binding Machine
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摘要: 本文提出基于单目视觉的钢丝捆扎机C形钩偏转角度检测方法，通过在C形钩表面适当部位粘贴红色矩形标志，利用单目相机检测获得图像并通过图像处理技术获取红色矩形图轮廓形状作为靶标，最后将靶标偏转模式进行分类并建立相应偏转模式的数学模型，从而实现对靶标垂直倾角和靶标水平倾角的检测。检测方法具有较高的计算效率和准确度且容易编程实现，以高精度三坐标测量机为参考基准的实验表明该检测方法的测量精度在0.6°以内，满足车间现场C形钩偏转角度检测精度低于2°的技术要求。Abstract: Monocular vision based method is proposed for the on-line angle detection of C-shaped hook. Firstly, a red rectangle mark is pasted on the proper position of surface of the C-shaped hook, and then the image processing technique is employed to obtain the rectangle contour shape of the target from the videos. Finally, the models for target deflection mode are built to realize the measurement of the horizontal and vertical angles. The presnt method has high computational efficiency and accuracy, and the error is below 0.6° comparing with the results of three-coordinates measuring machine. It satisfies the accuracy requirement of the applications in the online detection of the angle of C-shaped hook of the steel wire binding machine.
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表 1 垂直偏转角度检测结果对比
(°) 序号 三坐标测量机 本文检测方法 绝对误差 1 3.401 4 3 0.401 4 2 6.471 5 6 0.471 5 3 14.303 6 14 0.303 6 4 16.775 1 17 0.224 9 5 24.239 1 24 0.239 1 6 −4.761 4 −5 0.238 6 7 −8.214 4 −8 0.214 4 8 −13.447 3 −13 0.447 3 9 −18.753 7 −19 0.246 3 10 −28.976 8 −29 0.023 2 
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表 2 水平偏转角度检测结果对比
(°) 序号 三坐标测量机 本文检测方法 绝对误差 1 2.301 4 2.801 0 0.499 6 2 4.677 5 4.947 6 0.270 1 3 9.547 8 9.900 6 0.352 8 4 15.224 7 15.758 1 0.533 4 5 24.010 7 24.601 8 0.591 1 6 −1.299 8 −1.668 1 0.368 3 7 −7.344 7 −7.864 9 0.520 2 8 −13.640 2 −14.204 5 0.564 3 9 −21.777 9 −22.269 6 0.491 7 10 −26.511 6 −27.017 0 0.505 4
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