An Approach to Finding the Orientation of Disk-Shaped Objects with Multiple Marks

The paper focuses on the problem of finding the orientation of thin disk-shaped objects, which can represent various entities, workpieces, tools and others that are utilized in different industrial fields such as robotics, CNC manufacturing, calibration, metrology, ID reading, etc. In addition to the single main mark (notch), which has been deliberately created onto the disk for the purpose of using it as a reference point and thus being able to find the orientation of the object with the help of a sensory device, the proposed approach considers the existence of multiple redundant marks (originated as a result of a specific feature or technology/manufacturing process), seeking to collect their geometrical characteristics and to properly filter them, so that the process of orienting (aligning) the object would not be interfered or compromised. The identification of potential issues, the development and implementation of the mentioned align approach, as well as the execution of multiple experiments and their analyses have been presented in this paper.