基于机器视觉的装配构件吊装辅助技术研究  

Research on Auxiliary Technology of Assembly Component Hoisting Based on Machine Vision

作　　者：李佳 杨建波 潘慧晓 赵卜兴 姜玉亭 

机构地区：[1]桂林电子科技大学建筑与交通工程学院,广西桂林541004

出　　处：《大众科技》2023年第5期8-12,共5页Popular Science & Technology

基　　金：广西科技重大专项项目“应急救援机器人技术研发与成果转化”(2022AA05002);国家大学生创新训练项目“装配式建筑构件吊装智能辅助装备研发”。

摘　　要：在装配式建筑的构件吊装施工过程中,存在地面人员与塔吊操作人员产生视觉信息差、工人在构件装配操作过程中有较高危险性等问题。文章利用二维码存储装配构件的信息,运用机器视觉识别二维码,结合坐标系转换,实现装配构件安装位置识别;对摄像头获取图像进行RGB到HSV颜色空间转换,使用颜色分割算法,得到二值化图像,再进行形态学运算滤波处理,通过图像轮廓搜寻实现装配构件实时位姿识别。将建筑构件安装位置和实时位姿进行识别结果作为吊装过程操控指导信息,通过操控系统搭载的机械臂,并与塔吊协同,可完成建筑装配构件的辅助安装操作。In the process of component hoisting construction of prefabricated buildings,there are some problems such as poor visual information between ground personnel and tower crane operators,and high risk of workers in the process of component assembly operation.In this paper,the two-dimensional code is used to store the information of assembly components,and the machine vision is used to identify the two-dimensional code,and the coordinate system transformation is used to realize the installation position identification of assembly components;The RGB to HSV color space conversion is carried out for the image acquired by the camera,and the binary image is obtained by using the color segmentation algorithm.Then the morphological operation and filtering processing are carried out,and the real-time pose recognition of assembly components is realized through the image contour search.The identification results of the installation position and real-time posture of the building components are used as the guidance information for the hoisting process.The auxiliary installation operation of the building assembly components can be completed by manipulating the mechanical arm carried by the system and cooperating with the tower crane.

关 键 词：机器视觉 装配式建筑 装配构件 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]