A hole detector

To detect the complete screw hole ignoring the overly inside on the disc reader.

 I use the multilevel histogram analyzing method to finish it.

A rotary cylinder auto screw locker

I made the system software -  a rotary cylinder auto screw locker with two air spanner and six-axis machining center (4 for air spanners, 1 for rotating the rotary cylinder and 1 for camera moving.)

The vision algorithm locates the position of screw holes, the system detects the height of the screw by touching the screws which monitoring the differences between the motor pulse and driver command pulse with the air spanner. 

It's fun in monitoring the pulse difference in various velocity and loading though the progress is totally slow.