摘要： 从多传感器信息融合的原理出发,提出了一种基于“两步定位”的工件智能检测方法。第1步利用视觉转动惯量法对任意放置在CMM工作台上的工件状态进行定位和定向;第2步利用测量离散点和其在模型上投影点之间的关系,采用伪逆算法原理,通过伪矩阵构造和点匹配两个过程的反复迭代,求取工件坐标系和设计(CAD)坐标系之间准确的转换关系。该算法具有快速性和鲁棒性。

关键词: 计算机视觉, 坐标测量机(CMM), 计算机集成制造, 伪逆算法

Abstract: An intelligent positioning method based on “two step” work is proposed in the light of the theory about multisensor information fusion.Firstly,the object's position and orientation are determined by a vision system,the orientation of an object is the angle between the X-axis of the coordinate system and the axis of the least moment of inertia of the object in this system,and the position value is the vector between the coordinate zero point and the object's centre of gravity.Secondly,the object is positioned by simple yet effective pseudoinverse algorithm,this algorithm consists of two iterative operations,namely,constructing a pseudo transformation matrix and point matching.This algorithm is fast and robust,which can effectively improve the setting accuracy of design coordinate system with respect to a machine's coordinate system based on vision positioning.

中图分类号: 

• TP21