结构不规则工件定位与抓取研究
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摘要
为解决结构不对称、质量分布不均匀的工件定位抓取问题,提出了利用工件表面特征的位置信息进行定位的方法。识别和提取工件上表面定位孔的图像坐标,联合机器人手眼标定参数获取工件的位姿信息。文中以散热器壳为例搭建了一种单目视觉系统,对机器人定位抓取系统中工件存在判定、图像分割、工件提取以及工件定位进行了研究,并通过实验进行验证,实验结果表明,该方法定位成功率高达0.92,具有较强的实用性。
To solving the problem of location and grasping workpiece that with nonuniform mass distribution and asymmetry structure,a new method of orientation based on object surface features is proposed.Recognition and extraction the image coordinate of locating holes in the surface of workpiece,then combined image coordinate with robot EYE- TO- HAND system calibrate parameters to obtain pose information.The paper experiment on radiator case and built a whole monocular computer vision system,and did some research into robot orientation and scraping system about judgment on existence of workpiece,division of image,workpiece feature extraction and positioning.The results show that the success rate is 0.92 and the positioning method have a strong practical value.
To solving the problem of location and grasping workpiece that with nonuniform mass distribution and asymmetry structure,a new method of orientation based on object surface features is proposed.Recognition and extraction the image coordinate of locating holes in the surface of workpiece,then combined image coordinate with robot EYE- TO- HAND system calibrate parameters to obtain pose information.The paper experiment on radiator case and built a whole monocular computer vision system,and did some research into robot orientation and scraping system about judgment on existence of workpiece,division of image,workpiece feature extraction and positioning.The results show that the success rate is 0.92 and the positioning method have a strong practical value.
引文
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[10]阳树洪.灰度图像阈值分割的自适应和快速算法研究[D].重庆:重庆大学,2014.
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[14]陈立松.工业机器人视觉引导关键技术的研究[D].合肥:合肥工业大学,2013.
[15]卜鹏辉,赵宏,谷飞飞,等.一种基于平面靶标的全自动标定方法[J].光电学报.2014,34(10):41-45.
[2]刘金桥,吴金强.机器视觉系统发展及其应用[J].机械工程与自动化,2010,158(1):215-216.
[3]郭静,罗华,张涛.机器视觉与应用[J].电子科技,2014,27(7):185-187.
[4]孙琦.基于Adept机器人的平面工件视觉定位与控制[D].杭州:杭州电子科技大学,2009.
[5]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.
[6]孙琦,罗志增.Eye-to-Hand机器人系统的平面工件识别研究[J].杭州电子科技大学报,2009(3):46-49.
[7]朱代先.基于双目视觉的工件定位与抓取研究[J].计算机测量与控制,2011,19(1):92-94.
[8]夏群峰,彭永刚.基于视觉的机器人抓取系统应用研究综述[J].机电工程,2014,31(6):697-701.
[9]王召利,杨廷梧,刘上乾,等.特殊靶标图像的Otsu自适应双阈值分割法[J].电子科技,2010,23(6):46-48.
[10]阳树洪.灰度图像阈值分割的自适应和快速算法研究[D].重庆:重庆大学,2014.
[11]Tian Jing,Yu Weiyu,Xie Shengli.An ant colony optimization algorithm for image edge deteetion[C].CA,USA:IEEE Congress on Image,2009.
[12]Zhang Zhengyou.Flexible camera calibretion by viewing a plane from unknown orientations[C].Korea:ICCCV,1999.
[13]陈泽宁,张学习,彭泽荣,等.基于机器视觉的工件定位和识别[J].电子科技,2016,29(4):99-103.
[14]陈立松.工业机器人视觉引导关键技术的研究[D].合肥:合肥工业大学,2013.
[15]卜鹏辉,赵宏,谷飞飞,等.一种基于平面靶标的全自动标定方法[J].光电学报.2014,34(10):41-45.