一种基于形状匹配的零件位置检测技术  

A Parts Location Detecting Technology Based on Shape Matching

作　　者：张磊 张鑫 贾磊 庄春刚 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]无锡尚实电子科技有限公司,无锡214100

出　　处：《机电一体化》2018年第4期52-57,共6页Mechatronics

基　　金：国家自然科学基金;编号:51375309

摘　　要：针对工业应用中复杂环境下提取零件提出了一种基于Halcon形状匹配算法的零件特征识别方法,能够提取工业零件的形状特征,利用形状特征进行零件轮廓的拟合,进而求取圆心,并可使用圆心坐标计算得到世界坐标系下任意零件与标定零件的位置关系。应用检测得到的位置关系可以使用机器人准确地进行散乱零件的抓取,为机床或加工中心进行自动化上料。In this paper,a feature recognition method is proposed to extract the contour feature based on Halcon shape matching algorithm for industry application. This method can accurately extract the contour feature points of industrial components and the parts center can be obtained by fitting the feature points,then the relative location in world coordinate between the calibration component and any other parts can be acquired by the parts center. Applying the relative location data,a robot can grab the scattered components accurately and then feeding machine tools or machining centers automatically.

关 键 词：形状匹配 最小二乘法 特征点提取 位置检测 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]