| 基于视觉引导的机器人抓取分类系统设计 |
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| 引用本文： | 戴福全、刘路杰.基于视觉引导的机器人抓取分类系统设计[J].福建工程学院学报,2020,0(6):530-534. |
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| 作者姓名： | 戴福全、刘路杰 |
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| 作者单位： | 福建工程学院机械与汽车工程学院 |
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| 摘 要： | 为了解决流水线的快速抓取及分类问题，采用六自由度串联工业机器人和SCARA 四轴机器人结合，配合3D 和2D 相机，搭建了一套智能分类抓取系统。基于Halcon 视觉处理平台，在Qt 软件框架下进行二次开发，构建了机器人视觉引导的自动抓取和分类软件框架。通过相机采集图像，并在上位机中经图像预处理、位姿估计、模板匹配等步骤后，得到三维位姿或中心坐标，并发送给机器人实行智能抓取，从而实现对多种堆叠物块的识别和抓取。实验结果表明，通过视觉定位得到的物块中心位置和机械手实际抓取测量之间的误差为0.05~1.22 mm，摆放角度在5°以内时，分拣效率比人工分拣提高了62%左右，可以更好地满足实际企业生产的需求。
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| 关 键 词： | 机器视觉 工业机器人 零件分类 模板匹配 Halcon |
Design of vision-guided robotic grasping classification system |
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| DAI Fuquan,,LIU Lujie.Design of vision-guided robotic grasping classification system[J].Journal of Fujian University of Technology,2020,0(6):530-534. |
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| Authors: | DAI Fuquan LIU Lujie |
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| Institution: | School of Mechanical and Automotive Engineering, Fujian University of Technology |
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| Abstract: | In order to solve the problem of rapid grabbing and classification of the assembly line, the system used a combination of a six-degree-of-freedom tandem industrial robot and a SCARA four-axis robot, together with 3D and 2D cameras, to build an intelligent classification and grasping system. Based on the vision processing platform Halcon, secondary development was carried out under the Qt software framework, and the automatic grasping and classification software framework guided by robot vision was constructed. The system collects images through the camera, and after image preprocessing, pose estimation, template matching and other steps in the host computer, the three-dimensional pose or center coordinates were obtained and sent to the robot for intelligent grasping, thereby realizing the identification and grabbing of several stacked blocks. Experimental results show that the error between the center position of the block obtained by visual positioning and the actual grasping measurement of the manipulator is 0.05~1.22 mm.When the placement angle is within 5°, the sorting efficiency of the robot is increased by about 62% than that of the manipulator. Therefore, it can better meet the requirements of the actual enterprise production. |
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| Keywords: | machine vision industrial robot parts classification template matching Halcon |
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