基于改进Zernike矩的亚像素钻铆圆孔检测方法

陈璐; 关立文

doi:10.16511/j.cnki.qhdxxb.2019.21.010

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清华大学学报（自然科学版） ›› 2019, Vol. 59 ›› Issue (6) : 438-444. DOI: 10.16511/j.cnki.qhdxxb.2019.21.010

机械工程

基于改进Zernike矩的亚像素钻铆圆孔检测方法

陈璐, 关立文

作者信息 +

Subpixel drilling and riveting circular hole detection method based on an improved Zernike moment

CHEN Lu, GUAN Liwen

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文章历史 +

摘要

在机器人自动钻铆系统中，高精度的圆孔视觉测量技术对制孔的定位精度和质量检测具有重要作用。为了提高钻铆基准孔和连接孔几何参数的视觉检测精度，该文首先基于Canny算子获取像素级边缘点集，实现圆孔中心坐标的粗定位；其次提取待测圆孔所在的感兴趣区域，利用4个Zernike正交矩准确推导了三灰度过渡模型的边缘参数；然后通过判断边缘参数和阈值的关系，计算圆孔边缘点的亚像素坐标；最后根据最小二乘原理实现圆孔中心坐标和半径的高精度检测。仿真结果表明，该算法的圆心坐标相对误差在0.01像素范围内，半径的相对误差精度为0.1像素。稳定性和抗噪性实验表明，该算法适应于不同尺寸的圆孔，并且对噪声的敏感程度较低。因此，该算法有效提高了钻铆圆孔参数的检测精度，在机器人钻铆视觉测量系统中具有重要意义。

Abstract

Robotic drilling and riveting systems use visualization to precisely position the workpiece and for quality assurance. This paper describes a multi-step method to improve the visual detection accuracy of the reference and connection holes. A pixel-level edge point set based on the Canny operator is used first for coarse positioning of the circular hole. The edge parameters of the three-grey transition model are accurately derived using four Zernike orthogonal moments for the region of interest around the hole to be detected. Then, the relationships between the edge parameters and thresholds is used to calculate the subpixel coordinates of the edge points. A least squares analysis is then used to detect the center location and hole radius. Simulations show that the error in the center coordinates is approximately 0.01 pixels and that of the radius is 0.1 pixels, which is higher detection accuracy than the traditional algorithm. The system works for various size holes and is less sensitive to noise. Thus, this method effectively improves the detection precision of circular holes, which is important in robotic drilling and riveting visual measurement systems.

导出引用

陈璐, 关立文. 基于改进Zernike矩的亚像素钻铆圆孔检测方法[J]. 清华大学学报（自然科学版）. 2019, 59(6): 438-444 https://doi.org/10.16511/j.cnki.qhdxxb.2019.21.010

CHEN Lu, GUAN Liwen. Subpixel drilling and riveting circular hole detection method based on an improved Zernike moment[J]. Journal of Tsinghua University(Science and Technology). 2019, 59(6): 438-444 https://doi.org/10.16511/j.cnki.qhdxxb.2019.21.010

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基金

国家重点研发计划（2017YFB1301700）

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收稿日期	出版日期
2018-11-21	2019-06-15
发布日期
2019-06-01

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