基于视觉机器人的自动加球系统的磨球识别与定位  

Grinding Ball Recognition and Positioning of Automatic Ball-Adding System Based on Visual Robot YANG Cheng1,ZHANG Youwang2

作　　者：杨成[1] 张友旺[2] YANG Cheng;ZHANG Youwang(Fankou Lead-Zinc Mine,Shenzhen Zhongjin Lingnan Nonfemet Co.,Ltd.,Shaoguan,Guangdong 512325,China;College of Mechanical and Electrical Engineering,Central South University,Changsha,Hunan 410083,China)

机构地区：[1]深圳市中金岭南有色金属股份有限公司凡口铅锌矿,广东韶关512325 [2]中南大学机电工程学院,湖南长沙410083

出　　处：《自动化应用》2024年第18期172-175,共4页Automation Application

摘　　要：在铸造过程中,诸多坑洞和浇铸口留下的突出状结构随机分布在磨球表面,导致基于视觉机器人的自动加球系统在采用表面形状或灰度相关性等匹配方法对其进行识别和定位时,许多磨球不能被识别。此外,磨球堆表层存在高度差,低位置的磨球可能比高位置的先被识别并定位,当电磁铁在机器人驱动下吸取磨球时,会与高位置磨球产生碰撞而被撞坏。针对上述情况,采用分层的阈值分割方法,忽略磨球表面的细节,只需识别被分割出的独立区域的最小外接圆,计算出与其中心垂直对应的磨球顶点坐标并实现磨球的定位。结果表明,磨球不能被识别和电磁铁被撞坏的问题得到有效解决,确保了自动加球系统功能的可靠实现。During the casting process,numerous pits and protruding structures left by the casting mouth are randomly distributed on the surface of the grinding ball,resulting in many grinding balls that cannot be recognized by the automatic ball-adding system based on visual robots when using matching methods such as surface shape or grayscale correlation to identify and locate them.In addition,there is a height difference on the surface of the grinding ball pile,and the grinding balls at low positions may be identified and located earlier than those at high positions.When the electromagnet is driven by the robot to suck up the grinding balls,it will collide with the grinding balls at high positions and be damaged.In response to the above situation,a layered threshold segmentation method is adopted,ignoring the details of the grinding ball surface.Only the minimum circumcircle of the segmented independent area needs to be identified,and the coordinates of the grinding ball vertex corresponding to its center perpendicular to it need to be calculated to achieve the positioning of the grinding ball.The results show that the problems of the grinding ball not being recognized and the electromagnet being damaged by collision has been effectively solved,ensuring the reliable implementation of the automatic ball-adding system function.

关 键 词：自动加球系统 视觉机器人 轮廓识别 视觉定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]