轻工机械2026，Vol.44Issue(3)：70-78,9.DOI:10.3969/j.issn.1005-2895.2026.03.009
面向轴承套圈的三维实时定位方法
3D Real-Time Positioning Method for Bearing Rings
余普凡 1钱淼 1种腾飞 1陈赟 1张建新1
作者信息
- 1. 浙江理工大学 机械工程学院,浙江 杭州 310018
- 折叠
摘要
Abstract
To improve the positioning accuracy and matching efficiency of robotic arms in the grasping and stacking process of bearing rings,the research group proposed a stereo matching algorithm that integrates YOLOv8 with an optimized depth-based clustering method.Firstly,a binocular vision experimental platform was set up,and system parameters were calibrated using Zhang Zhengyou camera calibration method.Then,an improved stereo matching algorithm was applied to generate disparity maps and depth maps.Finally,a multi-environment bearing image dataset was constructed,combining object detection and depth estimation results.This enabled accurate bearing identification while converting depth information into point clouds,and the 3D coordinates of the bearings were calculated by perspective transformation matrices.Experimental results show that the proposed method can effectively improve positioning accuracy while maintaining real-time performance at frame rate of about 12 frames per second.The average absolute errors of the 3D coordinates along the x,y and z axes are 2.463,1.863 and 2.611 mm,respectively,and the errors meet the positioning accuracy requirements.关键词
机械臂/三维定位/轴承套圈/双目视觉/目标检测/立体匹配算法Key words
robotic arm/3D positioning/bearing rings/binocular vision/object detection/stereo matching algorithm分类
机械制造引用本文复制引用
余普凡,钱淼,种腾飞,陈赟,张建新..面向轴承套圈的三维实时定位方法[J].轻工机械,2026,44(3):70-78,9.
