砖窑卸垛机器人视觉定位系统研究  

Research of Brick Destacking Robot Vision Orientation System

作　　者：廖晓波[1] 李众立[1] 廖璇[1] 

机构地区：[1]西南科技大学制造过程测试技术教育部重点实验室,四川绵阳621010

出　　处：《控制工程》2013年第4期650-653,662,共5页Control Engineering of China

基　　金：西南科技大学继续教育研究与发展基金项目(12ZXB101)

摘　　要：当前,在制砖的工艺过程中一般都要经过码垛-烧制-卸垛三个过程。在卸垛的环节上,虽然市场上已经有很多卸垛的机械化产品,但是针对卸砖这种高温、近距离的环境,人工操作的通用机械设备显得不可取,因此,对专用智能化的卸垛机器人的需求显得很迫切。在自动化、智能化的自主卸垛机器人的设计过程中,对砖垛的姿态和三维位置定位是研究的重点。针对卸垛机器人的工作环境和特点,设计图像采集与处理单元,在图像场景中设置双十字线性结构光标记,采集获得特征图像,同时结合数字图像处理算法,设计了一种处理简单、快速的单目视觉定位系统。工程实践证明该方法达到了快速、准确获取砖垛姿态和三维位置坐标的目的,可以满足卸垛机器人视觉定位要求。At present, in the process of making bricks are general through Stacking-fire-Destacking three process . In the destack process, Although the market had been a lot of Destacking mechanization products , According to the high temperature, close environ- ment in the process of Destacking , A manual operation general machinery equipment is not to be used , so , the needs of special intel- ligent robot is very urgent. In the process of design a automatic and intelligent robot , the shape and three dimentional position of brick stack is the most important in the research. In this paper, according to the work environment and the characteristics of the robot, de- signed the image capturing and processing unit , seted double linear structured light mark In the image scene, captured the feature image, At the same time with digital image processing algorithm, Designed a kind of simple, rapid processing of monocular vision positioning system. A mass of engineering practice proved that this method can meet the Visual orientation requirements of destacting.

关 键 词：机器视觉 砖窑卸垛 自主定位 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]