摘要
工业机器人在工业生产中的应用越来越广泛,但机器人缺乏感知能力,所以它还没有达到工业自动化的水平。随着机器视觉的发展,新兴技术已被应用于工业机器人,以提高生产效率。在智能改进中,机器视觉起着至关重要的作用。设计了一种基于机器视觉工业机器人的工件分拣系统。该系统通过相机在工件上进行图像采集,拍摄工件图像;然后,通过相机标定,获得三维空间中物体的几何信息,以重建和识别物体;之后,通过采用Canny算法获取工件边缘信息,进行工件的图像预处理,为后续图像处理做铺垫;提出结合概率霍夫变换和弗里曼链码算法,对工件进行图像形状识别;计算工件中心空间坐标,指导机器人完成分拣工作。实验结果表明,该分选系统能够实现快速工件识别,从而满足分拣的要求。
Industrial robots are more and more widely used in industrial production,but robots lack the ability of perception,so it has not reached the level of industrial automation.With the development of machine vision,emerging technologies have been applied to industrial robots to improve production efficiency.In intelligent improvement,machine vision plays a crucial role.In this study,a workpiece sorting system based on machine vision industrial robot is established.The main process is:through the camera,the image is collected on the workpiece and the workpiece image is taken;Then,through camera calibration,in order to obtain the geometric information of the object in 3D space,the object is reconstructed and recognized;After that,the edge information of the workpiece is obtained by using Canny algorithm,and the image of the workpiece is preprocessed to pave the way for subsequent image processing;In this study,a combination of probabilistic Hough transform and Freeman chain code algorithm is proposed to recognize the shape of the workpiece image;Calculate the space coordinate of the workpiece center to guide the robot to complete the sorting work.The experimental results show that the sorting system can realize rapid workpiece recognition,thus meeting the requirements of sorting.
作者
蒋智蓓
崔亚飞
秦龙
Jiang Zhibei;Cui Yafei;Qin Long(Yongzhou Vocational Technical College,Yongzhou,Hunan 425100,China)
出处
《机电工程技术》
2023年第11期170-173,共4页
Mechanical & Electrical Engineering Technology
基金
湖南省自然科学基金资助项目(2022JJ60081)。
关键词
工业机器人
机器视觉
工件分拣
industrial robots
machine vision
workpiece sorting
作者简介
第一作者:蒋智蓓(1995-),女,湖南永州人,学士,讲师,研究领域为机电一体化、工业机器人、机器视觉等。
