基于机器视觉的交叉缠绕式筒子纱位姿检测方法  

Detection method of position and posture of cheese yarn based on machine vision

作　　者：任佳伟 周其洪[1] 陈唱 洪巍 岑均豪 REN Jiawei;ZHOU Qihong;CHEN Chang;HONG Wei;CEN Junhao(School of Mechanical Engineering,Donghua University,Shanghai 201620,China;Guangzhou Seyouth Automation Technology Co.,Ltd.,Guangzhou,Guangdong 511400,China)

机构地区：[1]东华大学机械工程学院,上海201620 [2]广州盛原成自动化科技有限公司,广东广州511400

出　　处：《纺织学报》2024年第11期207-214,共8页Journal of Textile Research

基　　金：中央高校基本科研业务费专项资金资助项目(22D110321);国家重点研发计划项目(2017YFB13040)。

摘　　要：为解决机器人抓取传送带上筒子纱时筒子纱位姿识别困难的问题,提出一种基于机器视觉的筒子纱位姿检测方法。首先利用工业相机采集筒子纱的灰度图像,使用改进中值滤波对筒子纱图像进行预处理,再通过Canny边缘检测提取筒子纱的轮廓曲线并使用B样条曲线拟合对离散曲线进行平滑处理,然后计算离散曲线的曲率分布并判断放置状态,最后计算筒子纱中心点位置,使用基于曲率分布的直线检测算法提取筒子纱的边线并计算筒子纱轴线姿态角,以此得到筒子纱的位姿。以3种不同尺寸的筒子纱为对象进行位姿检测和抓取实验,结果表明,对不同尺寸的浅色筒子纱位姿检测准确率达到100%,可帮助机械臂实现对筒子纱的精准抓取。Objective Aiming at the detection of cheese yarn′s posture and position of cheese packages in the process of cheese yarn handling,this research proposes a machine vision based method for detecting the position and posture of cheese packages to provide data support for robots to accurately grasp the cheese package in manufacturing.Method An industrial camera was adopted to capture an image of the cheese yarn.Improved median filtering was adopted to preprocess the image,then Canny edge detection was adopted to acquire the contour curve of the cheese yarn,the discrete curve was smoothed using B-spline curve,the curvature distribution of the discrete curve was calculated and to determine the placement status,and finally the bobbin yarn center point was calculated.A curvature distribution based line detection algorithm was adopted to acquire the edges of the cheese yarn and calculate the pose angle of the cheese yarn axis.Results Through experiments,it was found that improved median filtering can distinguish between texture and edge regions in images,and adaptively use windows of different sizes for filtering.This effectively filters texture signals while preserving edge signals.This research compares the accuracy and stability of several line detection algorithms in experiments.250 images of the cheese yarn in a horizontal position were selected and their two edges are marked.Then,the line detection algorithm proposed,Hough transform,and EDLines were adopted to detect the images.The accuracy rate,missed detection rate,time consumption,angle error and position error of the algorithms were compared.The algorithm proposed has a detection accuracy of 100%for 250 images,without missed detections.The angle and position errors also reach the level of conventional line detection algorithms,ensuring the accuracy of the pose angle calculation of the cheese yarn,and the computational complexity is small,which can effectively save calculation time.Three different sizes of cheese yarns were selected for pose detection and condu

关 键 词：筒子纱 机器视觉 位姿检测 筒子纱搬运 B样条曲线 直线检测 自动化生产 

分 类 号：TS103.9[轻工技术与工程—纺织工程]