本文關(guān)鍵詞： 視覺(jué)引導(dǎo) 工業(yè)機(jī)器人 目標(biāo)識(shí)別 目標(biāo)定位 分揀　出處：《陜西科技大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：智能制造已成為生產(chǎn)制造業(yè)的發(fā)展方向,其核心是工業(yè)機(jī)器人。在工業(yè)生產(chǎn)中應(yīng)用工業(yè)機(jī)器人可以提高產(chǎn)品的產(chǎn)量與質(zhì)量并降低生產(chǎn)成本。為工業(yè)機(jī)器人配備視覺(jué)引導(dǎo)系統(tǒng),可以提高機(jī)器人對(duì)外界環(huán)境的感知和適應(yīng)能力,對(duì)實(shí)現(xiàn)制造業(yè)的智能化有非常重要的意義。本文以分揀系統(tǒng)為背景,研究了視覺(jué)引導(dǎo)技術(shù)在工業(yè)機(jī)器人中的應(yīng)用,具體的工作可分為以下三個(gè)部分:(1)基于輪廓匹配的目標(biāo)識(shí)別和定位方法研究。首先利用基于邊緣的方法將圖像分割成相互獨(dú)立的小塊圖像,然后提取圖像中目標(biāo)物體的輪廓特征,分別計(jì)算目標(biāo)物體輪廓圖像和模板輪廓圖像的幾何不變矩(Hu矩)和兩個(gè)輪廓之間的對(duì)比度量值,最后根據(jù)度量值閾值去除錯(cuò)誤的匹配結(jié)果。利用圖像的標(biāo)準(zhǔn)矩計(jì)算出目標(biāo)物體的中心像素坐標(biāo),分別利用目標(biāo)圖像和模板圖像的中心坐標(biāo)和重心坐標(biāo)構(gòu)成向量,計(jì)算兩個(gè)向量之間的夾角,并根據(jù)實(shí)際系統(tǒng)對(duì)夾角做一定的偏移,得到目標(biāo)物體相對(duì)于模板圖像的旋轉(zhuǎn)角度。(2)基于特征點(diǎn)匹配的目標(biāo)識(shí)別和定位方法研究。首先利用基于邊緣的方法將圖像分割成相互獨(dú)立的小塊圖像,然后檢測(cè)目標(biāo)物體和模板圖像上的特征點(diǎn),分別計(jì)算對(duì)應(yīng)特征點(diǎn)之間的漢明距離,并根據(jù)閾值判斷特征點(diǎn)是否匹配,最后根據(jù)最佳特征點(diǎn)的個(gè)數(shù)去除掉錯(cuò)誤的匹配結(jié)果。分別利用目標(biāo)圖像和模板圖像的中心坐標(biāo)以及任意的兩個(gè)特征點(diǎn)坐標(biāo)構(gòu)成的三角形,計(jì)算出目標(biāo)物體的像素坐標(biāo),并利用任意兩個(gè)特征點(diǎn)構(gòu)成的特征點(diǎn)向量,計(jì)算兩個(gè)向量之間的夾角,并做一定的偏移,得到目標(biāo)物體相對(duì)于模板圖像的旋轉(zhuǎn)角度。(3)基于視覺(jué)引導(dǎo)的分揀系統(tǒng)設(shè)計(jì)。系統(tǒng)以簡(jiǎn)單工件和象棋棋子作為分揀對(duì)象,首先利用工業(yè)數(shù)字相機(jī)獲取工作區(qū)域的圖像,在工業(yè)控制計(jì)算機(jī)上利用C++編寫視覺(jué)處理程序?qū)崿F(xiàn)目標(biāo)的識(shí)別和定位,并采用以太網(wǎng)通信將目標(biāo)信息數(shù)據(jù)發(fā)送到工業(yè)機(jī)器人,然后利用MELFA-BASIC語(yǔ)言編寫機(jī)器人程序?qū)崿F(xiàn)數(shù)據(jù)的解析及對(duì)工業(yè)機(jī)器人的控制,最后采用三菱RV-13F六自由度工業(yè)機(jī)器人作為主體,氣動(dòng)吸嘴作為末端執(zhí)行器抓取目標(biāo)物體,實(shí)現(xiàn)自動(dòng)分揀。為了驗(yàn)證目標(biāo)識(shí)別算法的有效性,進(jìn)行了目標(biāo)識(shí)別與定位實(shí)驗(yàn),與利用示教器獲取的目標(biāo)實(shí)測(cè)世界坐標(biāo)進(jìn)行比較,利用絕對(duì)誤差分析識(shí)別定位結(jié)果的準(zhǔn)確性。為了檢驗(yàn)分揀系統(tǒng)的性能,進(jìn)行了物體的抓取與分揀實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明,計(jì)算坐標(biāo)與實(shí)測(cè)世界坐標(biāo)之間的誤差在0.6mm以內(nèi),可以準(zhǔn)確的抓取到目標(biāo)物體,同時(shí)利用計(jì)算出的旋轉(zhuǎn)角度可以將圖像區(qū)域中的所有目標(biāo)物體按照模板圖像的方向整齊擺放,實(shí)現(xiàn)了物體的自動(dòng)分揀。
[Abstract]:Intelligent manufacturing has become the development direction of manufacturing industry. The application of industrial robots in industrial production can improve the output and quality of products and reduce the cost of production. The industrial robots are equipped with visual guidance system. It can improve the perception and adaptability of the robot to the outside environment, and it is very important to realize the intelligence of manufacturing industry. This paper takes the sorting system as the background. The application of visual guidance technology in industrial robot is studied. The specific work can be divided into the following three parts: 1) Target recognition and localization based on contour matching. Firstly, the edge based method is used to segment the image into independent blocks. Then the contour features of the target object in the image are extracted, and the geometric invariant moments Hu moments of the contour image and the template contour image are calculated, respectively, and the contrast measures between the two contours are calculated. Finally, according to the measure threshold to remove the wrong matching results, the center pixel coordinates of the target object are calculated by using the standard moments of the image, and the center coordinates and the barycentric coordinates of the target image and the template image are used to form the vector respectively. The angle between the two vectors is calculated, and a certain deviation of the angle is made according to the actual system. The rotation angle of the target object relative to the template image is obtained. (2) the method of target recognition and location based on feature point matching is studied. Firstly, the image is segmented into independent small images by edge based method. Then the feature points of the target object and the template image are detected, the hamming distance between the corresponding feature points is calculated, and the matching of the feature points is judged according to the threshold value. Finally, according to the optimal number of feature points to remove the wrong matching results, respectively using the target image and template image center coordinates and arbitrary two feature point coordinates of the triangle. The pixel coordinates of the target object are calculated, and the angle between the two vectors is calculated by using the eigenpoint vector of any two feature points, and a certain deviation is made. The rotation angle of the target object relative to the template image is obtained.) the visual guided sorting system is designed. The system takes the simple workpiece and the chess piece as the sorting object. Firstly, the image of the working area is obtained by using the industrial digital camera, and the visual processing program is written on the industrial control computer to realize the recognition and localization of the target. The target information data is sent to the industrial robot by Ethernet communication, and then the robot program is written by MELFA-BASIC language to realize the data analysis and the control of the industrial robot. Finally, Mitsubishi RV-13F six-degree-of-freedom industrial robot is used as the main body, and the pneumatic suction nozzle is used as the end actuator to grab the target object to realize automatic sorting, in order to verify the effectiveness of the target recognition algorithm. The experiments of target recognition and location are carried out, and compared with the measured world coordinates of the target obtained by the teacher, and the accuracy of the identification and location results is analyzed by using absolute error. In order to test the performance of the sorting system. The experimental results show that the error between the calculated coordinates and the measured world coordinates is within 0.6 mm, and the object can be captured accurately. At the same time, all the target objects in the image region can be arranged neatly according to the direction of the template image by using the calculated rotation angle, and the automatic sorting of objects is realized.
【學(xué)位授予單位】：陜西科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;TP242.2

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