基于智能传感器的工件抓取系统研究  

Research on the Workpiece Grabbing System Based on Intelligent Sensor

作　　者：苏波[1] 郑孟州 SU Bo;ZHENG Meng-zhou(School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454000, China)

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454000

出　　处：《软件导刊》2018年第12期8-11,17,共5页Software Guide

基　　金：河南省自然科学基金项目(162300410126)

摘　　要：自动化生产线产品检测时,为快速获取产品的三维位姿参数,提出一种基于智能传感器的单目视觉工件位姿获取方法。通过HALCON软件中3D表面匹配算法,对机器人和智能传感器系统进行标定,运动平台带工件作平移运动,智能传感器扫描测量,获取工件的轮廓点云数据,利用软件完成物体的三维点云信息处理和模型的三维重构,确定工件位姿。试验结果表明,该方法可以快速测量,数据可用于机器人抓取。In order to complete the task of product testing in the automated production line and quickly obtain the three-dimensional pose parameters of the product,a method of obtaining the pose of the monocular vision workpiece based on the smart sensor is proposed.Through the3D surface matching algorithm in HALCON software,the system composed of robot and intelligent sensor is calibrated.The moving platform with workpiece for translational motion,intelligent sensor scanning and measurement gets the contour point cloud data of the workpiece,and completes the3D point cloud information processing of the object by software.The three-dimensional reconstruction of the model to determine the pose of the workpiece is completed.The experimental results show that this method can achieve fast measurement and the data can be used for robot grasping.

关 键 词：智能传感器 三维重构 手眼标定 表面匹配 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]