圆柱体工件上下料机器人视觉系统设计  

Design of Robot Vision System for Loading and Unloading Cylindrical Workpiece

作　　者：关号兵[1] 顾寄南[1] 陈四杰[1] 沈巍[2] 

机构地区：[1]江苏大学制造业信息化研究中心,江苏镇江212013 [2]中国科学院沈阳自动化研究所,机器人学国家重点实验室,沈阳110016

出　　处：《机械设计与研究》2012年第1期18-21,共4页Machine Design And Research

基　　金：机器人学国家重点实验室开放课题资助项目(RLO201006)

摘　　要：主要研究了对无规则放置的圆柱体工件的识别方法。工作包括光源选取方法,摄像机的选择和标定;提出了直方图均衡化和中值滤波的图像预处理措施,运用了改进的Hough变换检测直线和区域生长法相融合的检测边缘方法;此外依据待匹配对象的特点,提出了一种点匹配和线段匹配相结合插值求取直线段中点的方法。通过查新确定本文具有重要的理论意义和潜在实用价值。This paper mainly provides a visual system as an identification method for cylindrical workpiece without placing rules.The main work including light source selection method,the camera calibration and choosing;The second part puts forward the measures of Histogram equalization and Median filtering,then shows the improving Hough transform to detect straight line and the regional growth method.According to the characteristics of the being matched,object an interpolating method for calculating the midpoint of line through the combination of point matching and line segment matching is proposed.Checking the novelty of this system,it＇s sure that this paper has important theoretical significance and potential application value.

关 键 词：视觉系统 光源 图像预处理 检测边缘方法 匹配 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP751[自动化与计算机技术—控制科学与工程]