计算机视觉系统在工业机器人上的应用
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摘要
工业机器人目前在工业生产中有着广泛的应用,在操作人员的引导下可以完成许多示教内容,但机器人缺乏对外界信息变化的足够感知能力,不能对已改变的工作环境做出相应的调整,进而影响加工的精度和质量,因此,给机器人添加一套视觉系统,使机器人能够对外部环境的变化做出相应的调整,提高机器人的灵活性和适应性,对机器人的广泛应用有着重要的意义。本试验通过介绍计算机视觉系统的工作原理和系统组成,研究开发了三自由度机器人,增加了一套视觉系统,实现了对物体的识别、跟踪以及一些其他的操作如:夹持、搬运等,并结合机器人控制卡,使得工业机器人能够很快地识别和跟踪目标物体,从而提高了工业机器人的适应性和灵活性。
At present,industrial robot has a wide range of applications in the industrial production and can finish a lot of teaching contents under the operator guidance,but it lacks enough perception ability to the outside information change,and can't make corresponding adjustment to the changed work environment,which affects the processing precision and quality,so it has great significance of the robot wide application to add a robot visual system,which enables the robot makes the corresponding adjustment to the change of external environment,and improve the robot flexibility and adaptability. Through the introduction the working principle and system composition of computer vision system,we studied and developed three degrees of freedom robot,added a visual system,realized the object recognition, tracking and some other operations such as holding,carrying,etc,and combined with the robot control card,made the industrial robot quickly identify and track target object,improved the adaptability and flexibility of industrial robot.
At present,industrial robot has a wide range of applications in the industrial production and can finish a lot of teaching contents under the operator guidance,but it lacks enough perception ability to the outside information change,and can't make corresponding adjustment to the changed work environment,which affects the processing precision and quality,so it has great significance of the robot wide application to add a robot visual system,which enables the robot makes the corresponding adjustment to the change of external environment,and improve the robot flexibility and adaptability. Through the introduction the working principle and system composition of computer vision system,we studied and developed three degrees of freedom robot,added a visual system,realized the object recognition, tracking and some other operations such as holding,carrying,etc,and combined with the robot control card,made the industrial robot quickly identify and track target object,improved the adaptability and flexibility of industrial robot.
引文
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[5]徐德,谭民,李原.机器人视觉测量与控制[M].北京:国防工业出版社,2008.
[6]周子啸,赵晓林,胡峰,等.基于仿真机器人的双目视觉定位[J].电视技术,2010,34(8):106-109.
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[11]杨利彪.移动机器人的视觉伺服系统研究[D].北京:北京化工大学,2008.
[12]王红涛.基于视觉的工业机器人目标识别定位方法的研究[D].西安:西安理工大学,2007.
[13]董辉.基于双目视觉的机器人视觉伺服研究[D].保定:河北大学,2010.
[2]SONG D M.A self-calibration technique for active vision systems[J].IEEE Transactions on Robotics and Automation.2005,12(1):114-120.
[3]CRAIG J J.Introduction to robotics[M].Beijing:China Machine Press,2005.
[4]蔡鹤皋.机器人技术的发展与在制造业中的应用[J].机械制造与自动化,2004,33(1):6-7,10.
[5]徐德,谭民,李原.机器人视觉测量与控制[M].北京:国防工业出版社,2008.
[6]周子啸,赵晓林,胡峰,等.基于仿真机器人的双目视觉定位[J].电视技术,2010,34(8):106-109.
[7]马颂德,张正友.计算机视觉——计算理论与算法基础[M].北京:科学出版社,1998.
[8]吕游.视觉引导技术在工业机器人智能抓取中的应用[D].合肥:合肥工业大学,2009.
[9]严艳.基于SIFT特征的多视图三维重建[D].西安:西安电子科技大学,2010.
[10]马强建.精确点位作业机器人控制系统研究[D].兰州:兰州理工大学,2009.
[11]杨利彪.移动机器人的视觉伺服系统研究[D].北京:北京化工大学,2008.
[12]王红涛.基于视觉的工业机器人目标识别定位方法的研究[D].西安:西安理工大学,2007.
[13]董辉.基于双目视觉的机器人视觉伺服研究[D].保定:河北大学,2010.