Research on Aircraft Wheel Hub Pose Detection Method Based on Machine Vision

Abstract

In order to achieve the action of lifting and clamping the aircraft wheel by the wheel holding device, machine vision is innovatively introduced to detect the position and pose of the wheel hub during the wheel holding process. The overall process design was systematically carried out, and an industrial camera was selected and calibrated. Then, the generalized Hough transform was used to extract the target from the processed image, and its center position was calculated. Based on the data of the number and position of the target’s center, it was determined whether the wheel hub was intact. If it was incomplete, more photos were taken. If the number of targets met the standard and the wheel hub was intact, the PnP pose calculation algorithm was adopted to calculate the position and pose of the wheel hub. The results showed that the calculated position and pose met the requirements proposed by the project design.