采用图像处理技术的机械臂定位装置  

Mechanical arm location based on image processing

作　　者：刘冀龙[1] 尹岗[1] 赵建伟[2] LIU Ji-long YIN Gangl ZHAO Jian-wei(Inner Mongolia University of Technology, Hohhot 010051, China China University of Mining ＆ Technology （ Beijing ）, Beijing 100089, China)

机构地区：[1]内蒙古工业大学,内蒙古呼和浩特010051 [2]中国矿业大学(北京),北京100089

出　　处：《电子设计工程》2017年第21期161-163,168,共4页Electronic Design Engineering

摘　　要：针对矿山地区地形复杂,人员无法进入危险地区等问题,利用图像处理技术,设计了以树莓派3为核心,结合Arduino MEGA2560单片机的机械臂运动目标定位装置。首先,树莓派3作为视觉算法处理核心,识别不同颜色的目标;其次,将颜色信息发送到Arduino单片机;最后,利用Arduino单片机控制大型机械臂跟踪运动目标并进行抓取。将定位装置安装到矿山机器人上进行测试。实验结果表明,机械臂能够实时跟踪运动圆球并成功抓取,实用性、可靠性足以满足要求。According to the dangerous mining area that the staff cannot go into. A manipulator control system based on digital image processing techniques was designed. Firstly, an open source computer vision was transplanted into Raspberry Pi 3, which as the core algorithm library and choice different colors. Secondly, color information was sent to the Arduino MCU. Finally, Arduino MCU was used to control the robot arm to track the moving target and grab. The simulation results show that mechanical arm can real-time tracking of moving the ball and successfully grab. The practicability and reliability can be good to meet the practical requirements.

关 键 词：目标定位 树莓派3 图像处理 实时跟踪 

分 类 号：TN98[电子电信—信息与通信工程]