The challenge
Flanges of different sizes arrive at the station in different positions and orientations; for the robot to approach each flange at the right point and angle, the flange type, centre and rotation had to be known every time.
Our solution
Shape-based matching on the camera image identifies the flange type (DN50, DN80…); the centre and the bolt holes are then detected. The flange's rotation is calculated with a single-hole reference.
Pixel coordinates are converted to millimetres through calibration: the robot's target angle and X/Y correction are sent to the robot with millimetre precision. The screens below show a 4-hole DN50 and an 8-hole DN80 flange being recognised.
