基于机器视觉的粮食智能生产线工件抓取位置自适应定位系统设计  

Design of an adaptive positioning system for workpiece grasping location on an intelligent grain production line based on machine vision

作　　者：张朋 赵鹏 周雪会[1] 刘辉 ZHANG Peng;ZHAO Peng;ZHOU Xue-hui;LIU Hui(Guangxi Vocational&Technical Institute of Industry,Nanning 530001,China;Shandong Polytechnic College,Jining 272067,China;Dongguan University of Technology,Dongguan 523000,China)

机构地区：[1]广西工业职业技术学院,广西南宁530001 [2]山东理工职业学院,山东济宁272067 [3]东莞理工学院,广东东莞523000

出　　处：《粮食与饲料工业》2025年第1期41-45,共5页Cereal & Feed Industry

基　　金：2023年广西高校中青年教师科研基础能力提升项目“基于机器视觉的自动化生产线工件定位及缺陷检测研究”(2023KY1316)。

摘　　要：视觉定位坐标与实际抓取位置的相对位移过大是导致智能主机无法准确定位工件实时位置的主要原因,为此,设计基于机器视觉的粮食智能生产线工件抓取位置自适应定位系统。利用粮食智能生产线定位基站,将抓取位置接收模块、位置信息自适应传输模块、工件抓取位置定位解算模块三类应用部件串联在一起,完成自适应定位系统的硬件设计。定义机器视觉坐标系,并求解视觉畸变参数,通过纠错粮食智能生产线工件抓取行为的方式,完成对抓取位置坐标误差的标定,实现基于机器视觉的粮食智能生产线工件抓取位置标定。针对抓取位置坐标实施自适应变换,并根据齐次定位条件,实现对工件抓取位置的自适应定位处理,再联合硬件应用结构,完成基于机器视觉的粮食智能生产线工件抓取位置自适应定位系统设计。实验结果表明,所提方法的视觉定位坐标与实际抓取位置的相对位移不超过0.5 mm,工件抓取位置自适应定位精度高,符合实际应用需求。The excessive relative displacement between visual positioning coordinates and actual grasping positions is the main reason why the intelligent host fails to accurately locate the real-time position of workpieces.To address this issue,an adaptive positioning system for workpiece grasping location on an intelligent grain production line based on machine vision is designed.The positioning base station of the intelligent grain production line is utilized to connect the three types of application modules(including grasping position reception,adaptive transmission of position information,and positioning calculation of workpiece grasping location)in series,completing the hardware design of the adaptive positioning system.A machine vision coordinate system is defined,and visual distortion parameters are solved to calibrate grasping position errors by correcting workpiece grasping behavior on the intelligent grain production line,achieving accurate grasping position calibration,and realizing the calibration of workpiece grasping location on an intelligent grain production line based on machine vision.An adaptive transformation is applied to the grasping position coordinates,and adaptive positioning of the workpiece grasping position is realized based on homogeneous positioning conditions.Combined with the hardware application structure,the design of the adaptive positioning system for workpiece grasping on the intelligent grain production line based on machine vision is completed.Experimental results show that the relative displacement between the visual positioning coordinates and the actual grasping position does not exceed 0.5 mm,demonstrating high precision in adaptive positioning,which meets practical application requirements.

关 键 词：机器视觉 工件抓取 位置定位 定位基站 畸变参数 误差标定 自适应变换 齐次定位条件 

分 类 号：TS210.3[轻工技术与工程—粮食、油脂及植物蛋白工程]