基于手眼视觉的工业机器人自动分拣系统研究  

Research on Industrial Robot Automated Sorting System Based on Eyein-hand Vision

作　　者：王金涛[1] 

机构地区：[1]沈阳新松机器人自动化股份有限公司,辽宁沈阳110168

出　　处：《工业技术创新》2014年第2期216-220,共5页Industrial Technology Innovation

摘　　要：面向智能分拣应用需求,开发了一套基于手眼视觉的分拣系统。系统首先通过相机采集生产线上工件的图像,然后用模板匹配的方法对工件进行识别和定位,最后引导机器人末端完成工件的抓取。实验表明,本文开发的系统具有标定灵活、定位精度高,对杂乱背景下的复杂工件分拣能力强等特点。An industrial robot automated sorting system based on eye-in-hand vision is developed, for the needs of intelligent sorting application. In this system, the image of workpiece on the production line was collected by a camera. The workpiece was then identified and located via templating matching. The capture of workpiece was finally completed by the robot end-effector in the guidance of vision system. Experiments prove that this system has advantages such as flexible calibration, high positioning accuracy, and strong identification capacity on complex workpiece under cluttered background.

关 键 词：工业机器人 手眼视觉 分拣 标定 模板匹配 

分 类 号：P242.2[天文地球—测绘科学与技术]