视觉引导的工字轮搬运机器人系统设计  

Design of Visually Guided I-spool Handling Robot System

作　　者：朱银龙[1] 陈昕 华超 陈传辉 陈宁[1] ZHU Yin-long;CHEN Xin;HUA Chao;CHEN Chuan-hui;CHEN Ning(College of Electronic and Mechanical Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China)

机构地区：[1]南京林业大学机械电子工程学院

出　　处：《林业机械与木工设备》2019年第11期25-29,共5页Forestry Machinery & Woodworking Equipment

基　　金：江苏省高等学校自然科学研究项目(18KJA4600050);江苏省“六大人才高峰”高层次人才项目(GDZB-024);江苏政府留学奖学金资助项目(JS-2016-052)

摘　　要：针对收卷金属线材的工字轮在搬运上人工成本高、生产效率低等问题,设计了一种基于机器视觉的工字轮搬运机器人控制系统。通过对相机成像模型的分析,进行了相机标定,同时结合手眼关系得到机械手在抓取目标工字轮过程中所涉及的坐标转换关系,经由形态学后处理获得较为理想的工字轮轮廓图像。研究了一种基于直线特征点提取并进行最优直线拟合的算法来实现对工字轮图像实际轮廓中心点的定位。实验结果表明,该系统实现了工字轮在货箱中的定位抓取与放置,提高了生产效率。In order to solve the problem of high labor cost and low production efficiency in the handling of I-wheel for rewinding metal wire,a control system for I-spool handling robot based on machine vision was studied.Through the analysis of a camera imaging model,camera calibration was carried out,and the coordinate transformation relation involved in the manipulator's grab of the target I-spool was obtained by combining the hand-eye relation.In this paper,an algorithm based on line feature point extraction and optimal line fitting was proposed to locate the actual contour center of I-spool image.The experimental results show that the system can realize the positioning,grasping and placing of I-spool in the container,improve the production efficiency.

关 键 词：工字轮 PLC控制系统 机器视觉 目标识别与定位 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]