双目视觉引导的异构件定位抓取系统  

Research on Binocular Vision Guided Localization and Grasping System of Heterogeneous Parts

作　　者：刘建春 高永康 陈勇忠 LIU Jian-chun;GAO Yong-kang;CHEN Yong-zhong(School of Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen Fujian 361024,China;School of Electrical Engineering and Automation,Xiamen University of Technology,Xiamen Fujian 361024,China)

机构地区：[1]厦门理工学院机械与汽车工程学院,福建厦门361024 [2]厦门理工学院电气工程与自动化学院,福建厦门361024

出　　处：《机械设计与制造》2022年第11期285-288,295,共5页Machinery Design & Manufacture

基　　金：2018年福建省科技计划项目高校产学合作项目(2018H6025);厦门市科技计划项目(3502Z20183051);2018年度厦门理工学院“科技攀登计划”资助项目(XPDKT18015)。

摘　　要：针对机器人示教抓取异构件水龙头仅能适应固定姿态,缺乏自主获取位姿能力的问题,开发了一套双目视觉引导的异构件定位抓取系统。首先通过单目及双目标定获取相机参数及相对位姿,接着对图像进行预处理、立体校正。经过二值化、形态学等图像处理算法将水龙头待抓取区域提取并且创建为模板。采用模板匹配与极限约束结合的方法进行特征匹配,根据匹配点视差及相机标定结果计算三维坐标,同时利用图像的二阶矩计算偏转角度。最后根据手眼标定矩阵及偏转角转换公式,求得水龙头在机器人基坐标系下的姿态,实现异构件的定位与抓取。实验结果表明x、y、z方向误差分别在±0.9mm、±1mm、±1.4mm以内,偏转角误差在±3.5°以内,具有良好的实用价值。In view of the problem that the robot can only adapt to the fixed posture and lack the ability to acquire the posture independently,a set of vision guided heterogeneous parts positioning and grabbing system is developed.Firstly,the camera parameters and relative pose are acquired by monocular and binocular calibration,then the image is preprocessed and stereo corrected.After binarization,morphology and other image processing algorithms,the tap area to be grabbed is extracted and created as a template.The method of template matching and limit constraint is used to match the features.The 3D coordinates are calculated according to the parallax of the matching points and the camera calibration results.At the same time,the deflection angle is calculated by the second-order moment of the image.Finally,according to the hand eye calibration matrix and the deflection angle conversion formula,the posture of the faucet in the robot base coordinate system is obtained,and the positioning and grasping of heterogeneous parts are realized.The experimental results show that the errors of x,y and z directions are within±0.9mm,±1mm,±1.4mm respectively,and the errors of deflection angle are within±3.5°.It has good practical value.

关 键 词：双目视觉 异构件水龙头 模板匹配 手眼标定 三维坐标 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]