应用链码算法的智能抓取系统的研究  

Application of Chain Code Algorithm in Intelligent Capture System

作　　者：张瑞[1] 张伟豪 朱振伟 高新江 ZHANG Rui;ZHANG Wei-hao;ZHU Zhen-wei;GAO Xin-jiang(College of Mechanical and Power Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China;He’nan Institute of Intelligent Manufacturing,He’nan Zhengzhou 450001,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450001 [2]河南省智能制造研究院,河南郑州450001

出　　处：《机械设计与制造》2023年第11期134-139,共6页Machinery Design & Manufacture

基　　金：工信部智能制造综合标准化与新模式应用项目([2018]037)。

摘　　要：在设计智能抓取系统的过程中,对目标物体的位置确定极为重要,运用链码算法进行物体的位置识别定位。以机器视觉和工业机器人为基础,对基于机器视觉的工业机器人抓取系统进行研究,经过相机标定、图片采集、图像预处理,实现物体的形状识别、抓取。运用Hough算法处理圆形物体,对于矩形、三角形物体则运用链码算法改进的Hough变换进行识别。通过确定物体的质心位置确定物体的位置,最终得到目标物体的形状与位置信息,然后根据确定的位置抓取目标工件。In the process of designing the intelligent grasping system,it is very important to determine the position of the object,and the chain code algorithm is used to identify and locate the object.Based on machine vision and industrial robot,the grasping system of industrial robot based on machine vision is studied.Through camera calibration,image acquisition and image preprocessing,the shape recognition and grasping of objects are realized.Hough algorithm is used to deal with circular objects,and Hough transform improved by chain code algorithm is used to identify rectangular and triangular objects.The position of the object is determined by determining the position of the object's center of mass,and then the target workpiece is grabbed according to the determined position.

关 键 词：链码算法 智能抓取 工业机器人 目标定位 机器视觉 

分 类 号：TH16[机械工程—机械制造及自动化] TH39